The Greyhound

by JPH, published

The Greyhound by JPH Apr 13, 2013
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The Greyhound by JPH is licensed under the Creative Commons - Attribution license.

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Finally I have finished this 1 year project.
what I came up with is a lightweight greyhound that you can control with an arduino and 8 servo's

I bet there are better programmers out there that can make it walk even better and smoother.

Also included is a basic program to get you going.




  • 14-4-2013
    The Greyhound Programming stand

    Let me know If you have made a good program.
    than I can put it for download on this page with YOUR name on it.

    Things you need:

  • 1x arduino uno
  • 8x servo's (I used the cheap towerpro MG90s metal gears)
  • 1x (U)BEC regulator (I used a XQ 50 Pichler)
  • 1x Lipo accu (I used a 2s or a 3s)
  • 17x M3X10
  • 5x M3X30
  • 13x M3 NUT
  • Glue or you can plastic weld the pieces with the 3D printer.
  • Some wires and connectors (see scamatics)
  • I used a switch to cut-off the power from the servo's.


  • Download: Assembly The Greyhound.PDF

  • First of all glue or plastic weld the servo horns in the right places==>
    Be aware!!! of how to mount all the servo horns on the lower legs. see Assembly The Greyhound.PDF
  • Assemble the left body.
  • Assemble the front and back legs of the left side.
    For the correct assembly each servo needs to be around a certain angle. for detail look in the Assembly The Greyhound.PDF
  • Assemble the compleet left side.

  • Assemble the right side just like the left side accept for the the following parts:

  • Now that you have two halves it's easy to mount the arduino in and the rest of the cables see the picture for wiring.

Pin 1 Front Right Upperleg
Pin 2 Front Right Lowerleg
Pin 3 Front Left Upperleg
Pin 4 Front Left Lowerleg
Pin 5 Back Right Upperleg
Pin 6 Back Right Lowerleg
Pin 7 Back Left Upperleg
Pin 8 Back Left Lowerleg

  • Mount it all together and your done.

to use the small programs I have written download the STAND.INO (For software calibration,this is the natural standing position.)
And the WALK4.INO (For letting it walk, also in this program you need to fill in the natural stand you figured out in the STAND program.

If you found a mistake please let me know.

  • I would love to see some programs and pictures of what you did.

  • Good luck!!!

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Probably the worst design I've seen in all my time I spend looking through designs on Thingiverse. What was going through you head with this one?

seriously this took you a year to make? lol

Seems like some lever switches on the feet would be helpful, so you now when the foot has touched the ground? In the video, it seems that one of the feet was consistently stopping short of the ground.

How about some momentary pushbutton switches with a rubber bumper to simulate a dogs paw pad. The switches could be normally open momentarily closed so as to register contact with the ground etc.

More importantly is the approach to programming. Is it running a fixed sequence of preprogrammed motions devoid of a feedback loop, or is it a full blown behavioural based program needing a few tweaks? I would suspect a fixed sequence since we are discussing adding switches.

I feel inspired.

Looks like there are nice mounting holes already at the end of each leg, so it wouldn't be hard to add a "foot" with whatever sensing you needed.

The Leg Lab robots (http://www.ai.mit.edu/projects/leglab/robots/robots.html) used elastic actuators to help give a more natural motion. Perhaps a sort of passive springy foot would help; then you could just measure the foot displacement (using something like https://www.sparkfun.com/categories/143) to measure the force on the foot.

Looks like K-9 may have some competition.

maybe if you can program it to walk a bit faster :D.