Inside
the quadruped.

01 / THE SYSTEM

What the original build uses.

The mechanical layout and the archived source agree on four legs with two servo channels each, plus a separate head channel. The controller software targets the ESP8266 Arduino environment.

ESP8266 / Arduino C++

The archived controller code uses the ESP8266 Wi-Fi and Arduino Servo libraries.

Eight leg-servo channels

Two driven joints per leg, arranged as an inner and outer channel on each of the four legs.

One head-servo channel

A ninth output, labelled “camera” in the source, moves the head assembly.

Printed body, legs and head

A split body shell, mirrored leg components, curved feet, spacers and a separate head assembly.

Local Wi-Fi commands

The firmware creates an access point and receives numbered movement commands over HTTP.

02 / THE MECHANICAL FILE SET

A body, four legs,
and a separate head.

This is the file inventory from the packaged 2-DOF v1 STL directory. It keeps the left/right variants and the tibia print layout visible. File count is not a quantity list for printing an entire robot.

“Tibia print” is a separate print-layout file, alongside the single-part tibia file. The archive also contains loose concept revisions and a v2 ZIP; their names alone do not establish a newer validated release.

03 / FROM THE ORIGINAL SLICER FILES

A snapshot of the print setup.

The values below come from the Body12 G-code generated on 5 December 2018 with Slic3r Prusa Edition 1.41.0. They document one early body print, rather than prescribe settings for every part or a different printer.

Printer profile

Original Prusa MK2.5

Material

PLA

Nozzle

0.4 mm

Layer height

0.1 mm

First layer

0.2 mm

Infill

20%

Perimeters

2

Nozzle temperature

210 °C

Bed temperature

60 °C

04 / HOW THE CONTROL FITS TOGETHER

From a Wi-Fi command
to a movement.

The original source uses an ESP8266 access point and an HTTP listener on port 80. A numbered command is passed to a dispatcher, which calls the robot’s motion routines. The main classes are named WebConnector, CommandExecutor, MiniKame and Oscillator.

1. 01

   Receive

   WebConnector reads the command from an HTTP request on the robot’s local Wi-Fi network.

2. 02

   Select

   CommandExecutor selects a movement or pose from the numbered command list.

3. 03

   Move

   The robot and oscillator classes coordinate servo positions, timing, phase and trim.

05 / THE MOTION REPERTOIRE

Walking is only the beginning.

The archived dispatcher defines 30 numbered commands. The names below follow the actual function calls in commandexecutor.cpp, rather than the old HTML button labels. This is a reference to the code, not a claim that every routine has been re-tested.

06 / TURNING THE ARCHIVE INTO A GUIDE

What comes next.

The archive gives us the shape of the robot and a useful view into its original control system. A reproducible guide still needs the details between those pieces.

1. Confirm the hardware.Identify exact electronics, servos, battery and fasteners, with a checked quantity list.
2. Document assembly.Confirm the print revision and quantities, then photograph orientation, joints, servo horns and cable routing.
3. Check power and wiring.Produce a diagram for the actual board and servo supply, with clear first-power-on checks.
4. Validate the software.Review the legacy firmware, align the controls, and document calibration and tested movements.