SpotMicro ESP32

377 stars on GitHub · michaelkubina/SpotMicroESP32

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

SpotMicro family — pick your compute target:

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

Printing

SpotMicro is a 12-DOF quadruped — 4 legs, 3 servos each — so the shoulder and limb parts must be printed once per leg (×4), and the chassis side is printed as a left/right pair (×2). This is the support-free Kubina redesign, so no supports are needed.

Print quantities: Chassis_Side ×2; Front_Cover ×1, Rear_Cover ×1, Cameramount ×1. Per leg (×4 each): Bottom_Shoulder, Inner_Shoulder, Outer_Shoulder, Limb_Ball_Bearing_Mount, Limb_Bottom_Shell, Limb_Top_Shell, Limb_Servohorn_Mount, Foot_Tip.

Note on Rear_Cover: the file is labelled a "Template." It is a customizable base cover meant to be edited (e.g. to add a cutout for your specific electronics/port layout) before printing, rather than a fixed final part — print it as-is if you don't need a custom opening. The upstream source also includes many experimental and alternate variants (different power-board mounting plates, optimized covers, mold parts); those are optional alternates and are intentionally excluded from this set, which is one clean buildable SpotMicro.