How to build SpotMicroAI
12-DoF four-legged robot dog · Intermediate
SpotMicroAI is a 12-servo, 3D-printed SpotMini-style quadruped based on KDY's SpotMicro, with a PCA9685 servo driver and a Raspberry Pi 4 or Jetson Nano.
Some soldering, calibration and Linux comfort needed.
Our estimate, part-time
No cost is published
CC-BY-4.0
What is SpotMicroAI?
SpotMicroAI builds on Deok-yeon Kim's SpotMicro, a printable small-scale take on Boston Dynamics' SpotMini that uses hobby servos.
Each leg has three MG996R-class servos driven by a 16-channel PCA9685, and a Raspberry Pi 4 or Jetson Nano does the thinking.
The original GitHub repo is now just a redirect, and the GitLab project it pointed to is gone. The STLs are still on Thingiverse under CC BY 4.0, and the parts list is on ReadTheDocs.
SpotMicroAI specifications
- DoF
- 12
- Servos
- MG996R class
- Driver
- PCA9685
- Compute
- Raspberry Pi 4 or Jetson Nano
- Sensors
- 2× HC-SR04, MPU-6050
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| MG996R-class servo | 12 | |
| PCA9685 16-channel driver | 1 | |
| Raspberry Pi 4 or Jetson Nano | 1 | |
| HC-SR04 ultrasonic | 2 | |
| MPU-6050 | 1 | |
| M4/M5 fasteners and bearings | — | Per the docs list |
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
- FDM printer
- Hex drivers
- Soldering iron
Step-by-step build overview
Electronics & wiring overview
The PCA9685 takes I²C from the Pi or Jetson and needs a separate high-current supply for the servos.
Software
The original code is no longer reachable, so look for community forks.
Tips from the bench
- ☕ MG996R servos draw a lot of current, so size the servo supply accordingly.
SpotMicroAI FAQ
Where are the files now?
The STLs are on Thingiverse (CC BY 4.0), and the docs are on ReadTheDocs.
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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