Quadraped Robot
A bluetooth-controlled spider robot that can move around via 8 servos.
Author: Alexandru-Bogdan Gherghiceanu
GitHub Project Link: https://github.com/UPB-PMRust-Students/acs-project-2026-alexgherghiceanu
Description
This project is a bluetooth controlled spider robot that you can sync up to your phone/tablet. From your device you can control it's speed,direction of travel and issue it extra gestures and commands, such as a wave.
Motivation
From a young age, I have been interested in robots and the process of building them. Futhermore, I have been following the progress of boston dynamics projects for a long time, so I knew that I wanted to build a quadraped robot myself. When I recently watched the movie Project Hail Mary, I decided that a spider is the best shape for my project to take.
Architecture
Log
Week 16 - 22 March
Decided on the project idea
Week 13 - 19 April
Ordered the necessary hardware components.
Week 20 - 26 April
All hardware components arrived.
Week 27 April - 3 May
Started writing the documentation and modifying the source chasis to fit my components.
Week 5 - 11 May
Week 12 - 18 May
Week 19 - 25 May
Hardware
The main brain of the project is the STM32 Nucleo-U545RE-Q microcontroller provided by the PM team. This takes the input from the HM-10 Bluetooth module and processes it into a signal the i2c controller can then give to the PCA9685 Servo Driver. From there, the signal is passed on to the 8 servomotors that power our robot spider, 2 in each leg. The system is powered by a 1000mAh 7.4v LiPo 2 cell batery and will be built on a modified version of the chasis of the Sesame spider-robot linked in the link section.
Schematics
Bill of Materials
Software
| Library | Description | Usage |
|---|---|---|
| st7789 | Display driver for ST7789 | Used for the display for the Pico Explorer Base |