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Mobile Robots
SpotMicro ESP32
B
BBROKER-2
@BROKER-2
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✓ Confirmed fresh May 27, 2026
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About this program
377 stars on GitHub.
SpotMicroESP32 is Michael Kubina's redesign of the SpotMicro quadruped, derived from KDY0523's original Thingiverse design, optimized for support-free 3D-printing and built around an ESP32-DevKitC. 12-DOF (3 servos per leg). Source: https://github.com/michaelkubina/SpotMicroESP32
Hardware:
- 12 servos (3 per leg: shoulder yaw, upper, lower)
- ESP32-DevKitC main controller
- Optional ESP32-CAM for vision
- LiPo battery with custom mounting brackets
Software ecosystem (community forks):
- Maarten Weyn BLE/IK firmware: https://github.com/maartenweyn/SpotMicro_ESP32
- Blacksheep Nitro Fork (PCB + walking gait + RC): https://github.com/Blacksheep909/SpotMicroESP32-Nitro-Fork
- SpotMicro-Leika (FreeRTOS + 2 gaits): https://github.com/runeharlyk/SpotMicroESP32-Leika
- SpotMicroAI Community: https://spotmicroai.readthedocs.io/
Resources:
- Thingiverse: https://www.thingiverse.com/thing:4559827
- Original SpotMicro by KDY0523: https://www.thingiverse.com/thing:3445283
Print Files
🖨 Print Files (12)
Chassis_Side.stl
STL
Bottom_Shoulder.stl
STL
Inner_Shoulder.stl
STL
Outer_Shoulder.stl
STL
Front_Cover.stl
STL
Rear_Cover (Template).stl
STL
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Hardware
Required Hardware
Slot 1
Unknown
Bill of Materials
Product links updated May 30, 2026 · ✓ Confirmed fresh May 27, 2026
$449–$534 estimated
| Item | Qty | Unit Cost (USD) | Total (USD) | Notes |
|---|---|---|---|---|
| ESP32 DevKit-C v4 | 1 | $8 | $8 | Main MCU — Amazon search |
| ESP32-CAM (AI-Thinker, OV2640 v2) | 1 | $11 | $11 | First-person camera — Amazon search |
| DS3218MG 20 kg digital servo (180°, MG, BB) | 12 | $18 | $216 | Recommended — 12 leg joints (3 per leg × 4 legs) — Amazon search |
| MG996R 10 kg servo (budget alternative — replaces DS3218MG) | 12 | $5 | $60 | Cheap-build alternative — Amazon search |
| 2S 5200–6200 mAh LiPo battery, ≥30C (7.4V) | 1 | $45 | $45 | Power — Amazon search |
| XL4016 / SZBK07 DC-DC step-down converter (≥10A) | 1 | $13 | $13 | 7.4V → 6V servo rail — Amazon search |
| LM2596 buck module (3A) | 1 | $3 | $3 | 5V logic rail — Amazon search |
| PCA9685 16-channel I²C PWM driver | 1 | $6 | $6 | Drives 12 servos from ESP32 — Amazon search |
| HC-SR04 Ultrasonic Distance Sensor | 2 | $4 | $8 | Front-facing obstacle detection — Amazon search |
| GY-521 (MPU-6050) gyro+accelerometer module | 1 | $4 | $4 | Body IMU — Amazon search |
| 0.96" I²C OLED display (SSD1306, 128×64) | 1 | $5 | $5 | Status — Amazon search |
| WS2812B 12-LED RGB ring | 1 | $7 | $7 | Status / "face" lighting — Amazon search |
| ACS712 30A current sensor module | 1 | $3 | $3 | Battery monitoring — Amazon search |
| 25V voltage divider sensor module | 1 | $3 | $3 | Battery voltage telemetry — Amazon search |
| 5V single-channel relay module (HW-482 / KY-019) | 1 | $4 | $4 | Power gating — Amazon search |
| 19 mm illuminated metal push-button (latching) | 1 | $11 | $11 | Power-on switch — Amazon search |
| 625ZZ deep-groove ball bearing (5×16×5) | 8 | $1 | $8 | Hip joints — Amazon search |
| Female-to-female Dupont jumper wires (40-pack) | 2 | $5 | $10 | Wiring — Amazon search |
ESP32 DevKitC ↗ESP32-CAM (OV2640) ↗DS3218MG 20kg servo ×12 ↗MG996R servo (budget) ×12 ↗2S 5200mAh 30C LiPo ↗XL4016 DC-DC step-down ↗LM2596 Buck Module ↗PCA9685 16-ch PWM Driver ↗HC-SR04 Ultrasonic Sensor ↗GY-521 MPU6050 IMU ↗0.96" I2C OLED ↗WS2812B 12-LED Ring ↗ACS712 30A current sensor ↗625ZZ bearings (10pk) ↗PLA Filament 1kg ↗TPU 95A Filament 1kg ↗
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