How to Create a Robotic Dog With 9G Servos

This is a Robotic Dog inspired by Boston Dynamic's Spotmini, but this time on a much smaller scale. This version of the robotic dog is created with a dozen Servos and some other components such as an Ardurino Nano.

You can find a great instructable covering how to create your own Servo Tester here:

https://www.instructables.com/id/Servo-Tester-2/

It is best if the Servos are arranged at 90° and then mounted on the "legs".

For kinematics:

All Legs = 48mm

Shoulder to Shoulder Pivot = 40mm (Left to Right)

Shoulder to Shoulder Pivot = 80mm (Front to Back)

With 90° being centered and perpendicular when assembled:

Shoulder Pivot +/-17.5° (Left/Right)

Shoulder Pivot +40.0°/-46.5° (Front/Back)

Knee Pivot: +70°/-73° (Front/Back)

Bom:

(1) Arduino Nano (Headless)

(1) 16ch PWM driver

(12) Tower Hobby 9g servo

(2) Frame-Vertical Pivot

(2) Frame-Vertical

(6) Frame-Stiffener Vertical

(6) Frame-Stiffener Horizontal

(4) Shoulder Pivot

(4) Leg-Upper

(2) Leg-Upper LH

(2) Leg-Upper RH

(4) Leg-Lower

(2) Driver Support

(1) Nano Support

The Stls can be found here:

https://www.thingiverse.com/thing:3145690

Full Credits to Design Cells for releasing the Stl files on Thingiverse; I didn't Design this myself.

The code has yet to be released yet, but I'm sure that it'll be released soon. If anybody knows how to code, please relate to the original author.

Have Fun!!!