Kame32

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

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.