Kame32
BAbout this program
Kame32 is an open-source quadruped walking robot by JavierIH. Built around an ESP32 and 8 servo motors, it walks, runs, dances, and performs a rich library of quadruped gaits — all controlled wirelessly via a built-in web-based gamepad over Wi-Fi.
All structural parts are 3D-printable. A custom PCB (KiCAD gerbers included) centralizes servo wiring. Choose MG90S (higher torque) or SG90 servos — brackets for both variants are included.
Specifications
| Property | Value |
|---|---|
| Motors | 8 servos (MG90S or SG90) |
| DOF | 8 (2 per leg) |
| Controller | ESP32 Dev Kit |
| Control | Web gamepad via Wi-Fi |
| PCB | Custom KiCAD design (gerbers included) |
| CAD | FreeCAD source file |
| Build time | 1–2 weekends |
| Skill level | Intermediate |
Gaits
Walk · Backward · Run · Omni Walk · Turn Left · Turn Right · Moonwalk · Dance · Up/Down · Push Up · Hello · Jump · Home
All gaits use the Octosnake oscillator library — sinusoidal servo control with per-axis phase offsets.
Hardware
ESP32 drives 8 PWM servos at 50 Hz / 16-bit resolution. Per-servo calibration offsets stored in ESP32 NVS.
Firmware
PlatformIO / Arduino. Build environments: calibration (tune offsets) and gamepad (web UI controller).
Attribution
Creator: JavierIH Source: github.com/JavierIH/Kame32 License: CC BY-SA 4.0 (hardware) - GPL-3.0 (code)
Build Guide
Source repository with CAD, firmware, and assembly files: github.com/JavierIH/Kame32
Printing
Kame32 is an 8-servo quadruped — 2 servos per leg, 4 legs. The servo brackets and legs come in two versions matched to the servo you use: SG90 (plastic-gear) or MG90S (metal-gear). This Print All set uses the SG90 version, which is the default servo in the bill of materials; MG90S is listed there only as an optional higher-torque upgrade. The four MG90S-specific files have been removed so the list yields one buildable robot rather than two overlapping servo sets.
Print quantities: print body-box and body-cover once each (the chassis). The leg and bracket parts are per-leg, so the left/right SG90 leg and bracket files are each printed in multiples to cover all four legs (the robot has 4 legs, each with a left and right side); print the shared leg-link, bushing, and foot parts in matching multiples. Build one full set of leg hardware per leg from the mirrored left/right SG90 parts.
Note: if you are building with MG90S metal-gear servos instead, use the corresponding -mg90s bracket and leg files from the upstream source (github.com/JavierIH/Kame32) in place of the -sg90 parts.
🖨 Print Files (9)
body-box.stl
body-cover.stl
bushing.stl
foot.stl
leg-link.stl
bracket-left-sg90.stl
Required Hardware
Electronics
| Item | Qty | Notes | Source |
|---|---|---|---|
| SG90 micro servo (180°) | 8 | Or MG90S metal-gear for higher torque | Amazon |
| ESP32 30-pin USB-C dev board | 1 | Main controller | Amazon |
| 2S 350 mAh LiPo battery | 1 | Compact pack that fits the body | Amazon |
| USB 2S LiPo balance charger (1 A) | 1 | — | Amazon |
| DC-DC buck converter 5 V 3 A | 2 | Step-down from battery to servo/logic rails | Amazon |
| Protoboard ~7×9 cm | 1 | For the shield; skip if ordering the custom PCB | Amazon |
| SS12D10 slide power switch | 1 | — | Amazon |
Fasteners & Material
| Item | Qty | Notes | Source |
|---|---|---|---|
| M3×30 screws | 12 | Leg assembly | Amazon |
| M3×8 screws | 10 | Brackets | Amazon |
| M3 nuts | 10 | — | Amazon |
| M3 nyloc lock nuts | 12 | For moving joints | Amazon |