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 on GPIO 5, 18, 19, 21, 25, 26, 32, 33. 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)
Category: Mobile Robots
| Qty | Part | Notes | |-----|------|-------| | 8 | SG90 (180°) micro servo | Or MG90s metal-gear for higher torque | | 1 | ESP32 30-pin type-C dev board | — | | 1 | LiPo 2S 350mAh battery | — | | 1 | USB LiPo 2S 1A charger | — | | 1 | Protoboard 7×9 cm | For shield/PCB | | 2 | DC-DC buck converter 5V 3A | Step-down from battery | | 1 | Power switch SS12D10 | — | | 12 | Screw M3×30 | For leg assembly | | 10 | Screw M3×8 | For brackets | | 10 | Nut M3 | — | | 12 | Nut M3 nyloc | — | | 1 | PCB (custom KiCAD design) | Optional, or use protoboard | | 1 | PLA filament (≈100g) | For 3D-printed parts |