12-DOF Quadruped Robot
12-DOF IoT Robot Platform
About the Project
A professional-grade quadruped (4-legged) robot platform utilizing a 12 Degree of Freedom (DOF) mechanical configuration. Designed with an embedded system that distributes computational load, the robot features a Wi-Fi-enabled microcontroller (ESP32 or ESP8266) for logical coordination and IoT communications, and an Adafruit PCA9685 16-channel 12-bit PWM driver for precise multi-servo actuation.
The robot is controlled in real-time via the Blynk IoT mobile application, executing both static posturing and dynamic locomotion (diagonal gait) through an open-loop, time-synchronized control architecture.
Features & Details
Forward & Backward Locomotion
Executed as a synchronized diagonal gait, where diagonal pairs of legs lift and swing forward together while the other pair supports the body and pushes it backward.
Turning Maneuvers
To turn, the robot adjusts the yaw angle using its Coxa joints. The diagonal legs lift and sweep outwards/inwards asymmetrically to generate torque.
Coordinated Dance Routine
Showcases the robot's ability to smoothly shift its center of mass across all axes (Roll and Pitch) sequentially.
IoT Remote Control
Real-time, low-latency control architecture using Blynk over a local or cloud Wi-Fi network.
Project Gallery
Forward Gait Demonstration
Backward Gait Demonstration
Right Turn Maneuver
Left Turn Maneuver
Coordinated Dance Routine
Wave Gesture
Stand Pose
Alert Pose
Crouch Pose
Wave Pose
Tilt Right Pose
Tilt Left Pose
Bend Forward Pose
Resting Pose
Blynk IoT Interface
Blynk IoT Interface
The remote control dashboard built on the Blynk IoT platform. It provides real-time latency metrics, directional joystick controls, and specialized action buttons for complex maneuvers like dancing or waving. The mobile dashboard connects to the ESP32 directly over Wi-Fi.
Technical Details
Microcontroller
ESP32 / ESP8266
Hardware
12x Micro Servos, PCA9685
Firmware
Arduino IDE, C++
Iot Platform
Blynk IoT
Power Supply
7.4V DC Lithium