µKubik quadruped robot

Cheap and simple tabletop quadruped robot controlled with Python.

I consider this project more or less complete hardware-wise. I might add a sensor or two more if I can fit them inside… It uses an old iPod Nano box for the body, but you can use pretty much anything: a pill box, a plastic jar, even just a piece of a PCB. All the parts together cost me around $75.

Software-wise, I have the creep and trot gaits working, and I have a program that lets me control it with a gamepad. I’m working on more interesting behaviors.

Logs

• 2015-05-29 - Sensing the Servo Position

• 2015-05-29 - Sensing the Servo Force

• 2015-05-28 - Family Grows

• 2015-05-08 - Tote, µKubik’s younger brother

• 2015-04-17 - Force Sensing

• 2015-03-19 - Younger Brother

• 2015-01-03 - Follow Me!

• 2014-12-23 - One More Sensor

• 2014-11-02 - Walking around the desk

• 2014-11-02 - Size does matter

Links

• Project page

• Bitbucket repository

Components

Component	Count	Notes
Arduino Pro Mini	1
Tower Pro SG90 Microservo	12
2s LiPo Battery	1
HC05 Bluetooth Module	1
GY-61 Accelerometer Module (MPU6050)	1
8S 5A Switch-Mode UBEC	1
Universal PCB, goldpins, wires, etc.	1