Hi! In this project, I will show you how to make a 4 legged spider robot, in other words a quadruped robot. It is a robot that relies on calculations to position servos and pre-programmed sequences of legs. 3D printing was used to create the mechanical parts of the robot. You can print the parts yourself or order online for 3D printing service.

I chose PCBWay for 3D printing service because SLA type printer was required for excellent dimensional accuracy and smooth surface of parts. SLA type printers use resin material and provide excellent surface quality. In PLA prints made with the most common 3D printer type FDM, extra processes such as sanding may be required for a good fit of the moving mechanical parts.

Before we assemble the servo rocker arms, we must define all the servo positions to 90 degree angle... Upload the "quadruped_legs_correction" source code to Arduino Nano that will rotate all servo positions to 90 degrees. After turning the servos to the 90 degree position, assemble the servo rocker arms.

If the assembly of the robot is complete, let's upload the main source code "quadruped_spider_robot_code". you need to add the library called Flexi Timer:

https://github.com/wimleers/flexitimer2

More info: https://playground.arduino.cc/Main/FlexiTimer2/

Check the servo motor match and pin numbers connected to the feet. After uploading the code. Remove the Nano board from the circuit when uploading the code!