Spherical Quadruped Arduino Robot
[Greg06] started learning electronics the same way most of us did: buy a few kits, read a few tutorials, and try your hardest to put a few things together. Sound familiar? After a while, you noticed your skills started increasing, and your comfort level with different projects improved as well. Eventually, you try your hand at making your own custom projects and publishing your own tutorials.

Few are lucky to have a first-project as elaborate as [Greg06’s] quadruped robot. We don’t know about you, but for some of us, we were satisfied with blinking two LEDs instead of just one.
[Greg06’s] robot has a quadruped based, housed within a 3D printed spherical body. The legs are retractable and are actuated by tiny servo motors inside the body. [Greg06] even included an ultrasonic distance sensor for the obstacle avoidance mechanism. Honestly, if it weren’t for the ultrasonic distance sensor protruding from the spherical body, you might think that the entire robot was just a little Wiffle ball. This reminds us of another design we’ve seen before.
If that weren’t enough, the spherical head can rotate, widening the range of the ultrasonic distance sensor and obstacle avoidance mechanism. This is accomplished by attaching another servo motor to the head.
Pretty neat design if you ask us. Definitely one of the coolest quadrupeds we’ve seen.
D-O is effectively a two-wheeled self-balancing robot, with two thin drive wheels on the outer edges of the main body. A wide flexible tire covers the space between the two wheels, where the electronics are housed, without actually forming part of the drive mechanism. The main drive motors are a pair of geared DC motors with encoders to allow closed-loop control down to very slow speeds. The brains of the operation is an Arduino MKR-W1010 GET on a stack that consists of a motor driver, shield, IMU shields, and prototyping shield. [Matt] did discover a design error on the motor driver board, which caused the main power switching MOSFET to burst into flames from excessive gate voltage. Fortunately he was able to work around this by simply removing the blown MOSFET and bridging the connection with a wire.















