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Intermediate build

How to build ESP32 Small Robot Dog (SovGVD)

12-DoF four-legged robot dog · Intermediate

SovGVD's ESP32 robot dog is a Bittle-inspired 12-DoF quadruped with MG90D servos and FreeCAD parts. The author has closed the project, so treat it as a reference.

Start the buildProject files
Difficulty
Intermediate

Some soldering, calibration and Linux comfort needed.

Build time
2–4 weekends

Our estimate, part-time

Parts cost
Not published

No cost is published

Degrees of freedom
12

MIT

What is ESP32 Small Robot Dog (SovGVD)?

SovGVD built this small quadruped with Petoi's Bittle as inspiration. It has three joints per leg (12 in total), all TowerPro MG90D micro servos, and an ESP32 runs the control code.

The firmware lives in its own repo, and the body parts are FreeCAD source files only, so you'll need to export the meshes yourself.

The author has declared the project finished: some dependencies are out of date, a few planned features were never built, and the PCB was never made. Use it as a design reference, not a kit.

ESP32 Small Robot Dog (SovGVD) specifications

DoF
12
Servos
TowerPro MG90D
Controller
ESP32 dev board
Power
2× 18650
Status
Closed by author

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
TowerPro MG90D micro servo12
ESP32 development board1
18650 cell2
Printed body (small_dog.FCStd) + servo and leg calibration jigs—
Where's the full bill of materials?

The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat Not published as a ballpark. Start at the project repository.

Tools you'll need

  • FreeCAD (to export STLs)
  • FDM printer
  • Soldering iron

Step-by-step build overview

Electronics & wiring overview

Twelve MG90D signal lines go to the ESP32 GPIOs listed in the firmware README, and the two 18650 cells feed the servo rail.

Battery packpower sourceLaptop / PChigh-level controlIMUsensingESP32 microcontrollerreal-time controllerServo bus adapterdrivers / bushobby/smart servos12 joints / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

The project ships its own firmware and control code. See the repository for setup.

The ESP32 firmware (MIT) is in SovGVD/esp32-robot-dog-code. Expect to update its dependencies before it will build.

Tips from the bench

  • ☕ If you want something that builds today, a maintained design like Sesame or Bittle-class robots is easier.

ESP32 Small Robot Dog (SovGVD) FAQ

Is this project maintained?

No. The author has closed it and notes outdated dependencies.

Is there a PCB?

No. One was planned but never produced.

Sources

Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.

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