ESP32 Quadrapod “Spider” Robot – Mini Project Report

1. Introduction

This project presents a four-legged quadruped robot built using an ESP32 microcontroller and a 16-channel PWM servo driver. The robot uses servo motors and 3D-printed parts to form a stable, flexible walking platform suitable for learning and hobby robotics.

2. Objectives

• Design and build a stable quadruped walking robot.
• Use the ESP32 for wireless control and gait programming.
• Understand servo actuation and leg-movement coordination.
• Create a modular platform that can be upgraded with sensors.

3. Components Used

• ESP32 Dev Kit
• 16-Channel Servo Driver (PCA9685)
• Servo Motors
• 3D-Printed Chassis
• Battery / Power Supply

4. Working Principle

The ESP32 communicates with the 16-channel servo driver to control each leg’s movement using PWM signals.
Coordinated servo angles enable:

• Walking forward
• Turning
• Standing
• Basic gait patterns

Wi-Fi capability in the ESP32 allows the robot to be controlled wirelessly.

5. Key Features

• Stable Four-Legged Design: Improved stability on different terrains.
• Wireless Control: Operated via Wi-Fi.
• Programmable Gaits: Custom walking patterns can be created.
• Modular Construction: Easy to repair or upgrade.
• Expandable Platform: Extra channels available for sensors.

6. Potential Applications

• Educational Tool: Robotics, mechanics, and programming learning.
• Hobby & Entertainment: Fun maker project.
• Surveillance: Can mount a camera for remote monitoring.
• Research Platform: Useful for testing locomotion algorithms.
• Search & Rescue (Conceptual): A larger version may navigate disaster zones.

7. Team Members

Dharmesh H, Harsha T, Jnanesh M R, Suhas M

8. Conclusion

The ESP32 quadruped robot is a compact and versatile walking robot platform. Its wireless control, modular design, and customizable movements make it ideal for education, research, and further robotics development.