Arduino Quadruped Robot

12/13/2012 Update: Code is now available for download at http://engineer-this.com/QuadrupedVer2.txt Its saved as a .txt file because I can't host a .ino. Just rename the extension or copy and paste the code into the Arduino IDE.

Hey guys, I wanted to show off my first robot. He's a quadruped walking robot that I built from scratch. All parts were designed in SolidWorks and then cut out using my CNC router. Each of the four legs are controlled by 3 cheap hobbyking servos. I have an Arduino Nano controlling the 12 servos using the standard servo library but plan on upgrading to an Arduino Mega so I can have some more expansion options.

I struggled with the programming for awhile but finally got my inverse kinematics algorithms working. So far he can only walk forward and do a couple other very basic movements. I've developed a creep gait that works well, but plan on trying other gaits in the future. This is definitely a work in progress but unfortunately I am finding that I have less and less free time these days. Hopefully in the next few weeks I'll find some time to develop a turn gait and add some sensors!

I have many more pictures and information on my website at engineer-this.com/Quadruped. I just started working on the website last week so bare with me while I finish it up.