Hey! This thing is still a Work in Progress. Files, instructions, and other stuff might change!

AT-AS quadruped (or hexapod) robot

by Anandromeda, published

AT-AS quadruped (or hexapod) robot by Anandromeda Sep 9, 2012
3 Share
Download All Files

Thing Apps Enabled

Order This Printed View All Apps


Liked By

View All

Give a Shout Out

If you print this Thing and display it in public proudly give attribution by printing and displaying this tag.

Print Thing Tag


Thing Statistics

43835Views 7053Downloads Found in Model Robots


The "AT-AS" (All Terrain - Anita Scout) is a printable quadruped robot.

The AT-AS is a project of an efficient robot, as it has achieved a useful and complete walking robot base using few technical and economic resources. In addition, it is a flexible robot project since its design is open to many development possibilities in future works such as the transformation of the quadruped model to a hexapod model, easy modification of leg and modular structure design, the possibility of adding sensors to improve control or communication with other robots using wireless networks via Xbee modules.

I used two parts of the "Versatile Servo Bracket System" created by bryanandaimee:
But the rest of parts has been designed by my own, using OpenSCAD and C++ OOML (Oriented-Object Mechanical Library): http://iearobotics.com/oomlwiki/doku.php?id=start

For the AT-AS implementation, I used:

  • 1x Arduino Mega 2560.
  • 8x Servo Futaba S3003.
  • 1x Lipo Battery (2S, 7,4V).
  • 1x UBEC (5V).
  • Remote control through a Gamepad connected to a PC.
  • Wireless communication through Bluetooth or XBee modules.

But this robot accepts others microcontrollers, servos (with similar dimensions) and others components for its control. Use the one you prefer!

See a video of AT-AS quadruped in action:

Quadruped Robot --> Hexapod Robot

The part called: "hip_evolution_hexapod" is only for the transformation of the quadruped model to a hexapod model. Using this part, just need to print another two legs! :)


(A further update with the programming & instructions of installation will be available soon.)

More from Model Robots

view more

All Apps

3D Print your file with 3D Hubs, the world’s largest online marketplace for 3D printing services.

App Info Launch App

Auto-magically prepare your 3D models for 3D printing. A cloud based 3D models Preparing and Healing solution for 3D Printing, MakePrintable provides features for model repairing, wall thickness...

App Info Launch App

Kiri:Moto is an integrated cloud-based slicer and tool-path generator for 3D Printing, CAM / CNC and Laser cutting. *** 3D printing mode provides model slicing and GCode output using built-in...

App Info Launch App
KiriMoto Thing App

With 3D Slash, you can edit 3d models like a stonecutter. A unique interface: as fun as a building game! The perfect tool for non-designers and children to create in 3D.

App Info Launch App

Print through a distributed network of 3D printing enthusiasts from across the US, at a fraction of the cost of the competitors. We want to change the world for the better through technology, an...

App Info Launch App

Quickly Scale, Mirror or Cut your 3D Models

App Info Launch App

3D Print a wide range of designs with Treatstock. Easy to use tools to get the perfect result. The global 3D printing network that connects you with high-quality and fast working print services nea...

App Info Launch App

Great design, I love it :)

Just as a suggestion, you could use these servo lids http://www.thingiverse.com/thing:30707http://www.thingiverse.com/thi...

Servo lower lid
by obijuan

Here's my first pass at some code - it does a cute, awkward lurching walk. There's lots of room for improvement though:


Just paste that into a .ino file and upload with the standard Arduino IDE.

You'll need to change the pin assignments, either physically on your Arduino or in the code to get the servos properly ordered.

Sorry for the wait. I've been very busy lately... :(
Now I'm trying to mount the full hexapod. When finished I will upload instructions and code. I promise!! ;)

Instructions still missing?

I really like this thing and I'm
considering a walker project next. Is the code for your
microcontroller available to look through?

My walking pattern still needs some
work but I'm excited it works.

Here it is responding to an IR remote.

Hi, The walking gait looks really good in it's current state - I was wondering whether you wrote your code from scratch or found some online? If you have anything I could use I'd be most grateful!

I wrote it from scratch. Here is the code its running in the video: http://www.filedropper.com/irwalkerhttp://www.filedropper.com/irw...

Sorry for the sketchy file host.

Hi i would like to se you'r code too.. mine is not running so smooth, and it would be nice with some inspiration :)

Yes! Thank you, i will have a look at it :)

I have got mine walking a bit while waiting :) But not as smooth as yours..



I had a problem with the servo buttons coming off the servo case.
So I created my first project :)


Enhanced Servo Button
by hyla