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

Experimental quadruped robot with 3 jointed legs

by davidbec08, published

Experimental quadruped robot with 3 jointed legs by davidbec08 Dec 8, 2014
0 Share
Download All Files

Thing Apps Enabled

Order This Printed View All Apps


Use This Project

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

14802Views 2344Downloads Found in Robotics


This was the first version of a simple quadruped robot with 3 jointed legs. It is around 40cm high. It was designed for Power HD 1501MG Hi Torque Servos (17kg/cm), but note that the torque/weight means it cannot bound or run and they are underpowered for this application.

I think it needs almost double the torque in each joint. To walk, it had to move one leg very slowly forward at a time, while shifting weight (rotating the hips) on the other 3 legs. It sort of stumbled and shuffled then fell over.

The purpose was to experiment with mechanics of 4 legged walking using low price servos before I embark on a project with more expensive ones. It will never be able to carry the weight of a battery.

There is a new version with geared joints here:


It is still experimental but shows more promise.


I have included the rhino file.

You will need screws, some rubber feet pads and a 100mm RC Car shock absorber/spring

The photos show more details.

To power it I use a laboratory power supply at 7.2V and it draws peaks of ~4-5A.

The 'hips' connect to the chassis from the SLAM/GPS experimental offroad platform. You can get that part from that project. The 'chassis adaptor' joins chassis pieces more strongly than was needed for the off road platform - if you want to use the adaptors for the off road platform, it just makes it longer and stronger.

I hope the photos make it clearer! I'm happy to reply to emails.

My suggestion: think of of how to improve it. It is under powered for its size. I may use gears in a future version.

More from Robotics

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

David if you are like me you want to take this to the next level i am wanting to print this and put two electric gyros on the spine to stabilize the robot and also allow it to stand on its hine legs due to the coding you can supply to the synchronization of the robot and gyros. also by adding gyros you can make a dog like trot by shifting the weight to either leg of the robot based on the opposite leg moving. i would also like to change the servos to outrunner motors that can be run by a non strong power source like solar panels or lipo battery's


There is an updated version of this robot here:


It has geared joints because the 'old' ones were underpowered.

It is still experimental, but right now I use HD1501MG servos for the hips and DSS-M15S for the Knees. The former are 180 degree servos and the latter are 270 degree servos.


should do a short video "you can rec with the snapchat app and just download to your phone and from there upload to youtube" (very low file memory)

what type of servos you used? what are the specs?