robo4: build a four-legged robot with knees
A guide to building a four-legged robot with knees from scratch using Arduino Uno, designed to trot.
robo4 is a guide to building a small four-legged robot with knees at home. Each leg uses two servos, motors that turn to a specified angle: one at the hip and one at the knee. An Arduino Uno, fitted with a Sensor Shield V5, controls the eight servos. The guide includes parts, wiring diagrams, assembly, calibration, and code to help the robot stand and walk.
The project offers a hands-on way to learn robotics. With two joints per leg, each foot can lift, move forward, and touch down. The code provides a slow walk, in which one foot lifts at a time, and a trot, in which two diagonal feet lift. It also includes commands to move, turn, stop, and lie down, sent as letters through the Arduino Serial Monitor.
To get started, check the parts list and diagrams, and prepare a computer, the listed tools, and components. Assembly includes setting the servos, putting the legs together, and calibrating each joint. The servos use a separate power supply, so it is important to measure the voltage and check the connections before plugging them in. The guide recommends testing the movements with the robot suspended before placing it on the floor.
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