Let's Make Robots!

Quad Bot Puppy

Pretends to be a puppy
Quadruped_Puppy1.zip4.99 KB
Quadruped_Puppy_NiMh.zip5.03 KB

This is my second puppy robot and the first to use a QuadBot kit. The robot is quite simple, just a pan / tilt kit mounted on a QuadBot chassis with DAGU's new Magician robot controller.

Assembly instructions can now be found on Make Projects.

More detailed instructions are now avaiable on Instructables.

This is now a kit! The instruction manual can be downloaded from my product support site:
The kit comes with a battery holder for NiMh AA batteries and modified sample code to suit the different center of gravity.

The first video is my son Shi Sen playing with the robot and trying to get it to shake hands with him. The second video is with the latest code and Shi Sen is trying to get the robot to walk on it's back legs. Since the robot is controlled by your hand gestures this takes a bit of practise.

This robot can be built with 6x NiMh AA batteries. As the batteries are heavier the balance changes a bit when standing on it's hind legs. I have added a second version of the code that compensates for this.

This robot is now being produced as a kit, no soldering required.
Keep an eye out for it in online stores.

The code is a combination of the Mr. General IR tracking code and the Quad Bot sample code with some "puppy personality" thrown in to entertain my son.  I did put a small vibrator on the tail but the weight is too small making it hard to tell that he's wagging his tail.

The attached code will follow an object, sit when there is nothing to follow and shake hands and/or lie down depending on your hand gesture. If you hold your hand above it's head it will try to stand on it's back legs and follow you. This uses about 5K of the 8K available on the ATmega8 so there is still plenty of room for more personality code to be added.

The Arduino servo library can handle up to 12 servos on most Arduino boards but this comes at a cost of disabling PWM on pins 9 and 10 which are used by the magician controller for the dual "H" bridges.

As I wanted one motor output to drive the vibrator motor on the tail I cheated by configuring that PWM pin as a servo and then adjusting the min and max pulse settings in the attach.servo() command allowing me to go well beyond the normal range used by servos with the maximum being aproximately a 50% duty cycle. More than that will damage the small motor as it is running on 7.4V.

As my servos are rated at 6V and my LiPo battery has a nominal voltage of 7.4V I had to drop the power a bit. Although the onboard regulator can handle 1.5A I found that my 10 servos were drawing up to 3A or more in some cases.

The magician board has a jumper to allow the servos to be powered by the battery directly and there is already a 3A reverse polarity protection diode in series that drops the voltage by about 0.7V when under a reasonable load. I replace the jumper with a second 3A diode to effectively give me 6V when the battery voltage is 7.4V.

You can download the instruction manual for the Magician controller from my support site:

I had originally tried powering this project from AAA NiMh batteries. This will work if you have good quality batteries but my cheap NiMh AAA batteries were struggling to put out more than 2.5A. I have gotten up to 6A from good quality AAA NiMh batteries.

Fortunately I had a 7.4V LiPo battery pack from an old project that was about the same size and with more than twice the capacity. My advice for anyone wanting to use a lot of servos is to forget about alkaline batteries and use either high quality NiMh or LiPo batteries.

I have marked this project as complete although there will probably be a few software and hardware modifications in the near future.

If you want to know more about the QuadBot chassis then you can download the manual from my support site:


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Well done! Very impressive bot. I have been building one of these and have come up against some problems. I'm using picaxe 40 with a maestro servo controller. I am struggling with getting the puppy to turn (rotate). What Servo movements do you use? ie. FRH hip forward, RLH knee up..... etc.

I would really appreciate any help as I have tried and failed.


You could download my code but it probably won't help much since you are using the picaxe. It is probably better if you follow these steps.

  1. Write your code so that all servo movent is based on a center position (usually 150 for picaxe) plus or minus a value. The magnitude of this value will determine how much the servo moves and the sign (positive or negative) will determine direction. I had one value that told the leg how much to lift or lower. Another for how much to travel forward/backward.
  2. Start by teaching your robot to walk forward. For a quadruped the simplest gait is to lift diagonally opposite legs, while those legs are in the air, move them forward, while the legs on the ground move backward. Lower the legs that are in the air and then repeat the pattern with the legs that were on the ground.
  3. Once you have the robot walking forward, it should be easy to work out how to modify your code so it will add or subtract the direction values depending on if you want to go forward or backward.
  4. Then modify your code further so that you can make the left and right sides change direction independantly allowing the robot to turn.

This is the process I use to develop all my walking gaits. The advange of having all servos values revolve around a center position is that you can then calibrate the servos center position without affecting the gait. You can also do other cool things such as changing how high or low the robot sits while it is walking by simply modifying the center values.

Great page! Im also working on a dog-bot ( but IM new so it will be much more simple for learning sake) and I had a question, what is used to create the tail motion? is it a motor, servo or something else? Thanks!

In this kit a small vibrator motor like they use in mobile phones is in the tail. In my previous puppy robot a miniature servo was used. The servo is better but the vibration motor is cheaper and smaller.

Very very impressive indeed...Reminds me a 6 legged robotic barking dog named Blue that I saw in this series called F(x)...Hope I still remember that right

Look what I found! http://www.instructables.com/id/Playful-Puppy-Robot/
Already voted for the Epilog Challenge too! [:|]


Hey Bassile. Yes I updated this post with the instructable link earlier this week. Not sure I'm eligible for the contest but I figured I had nothing to loose. I put at least 2 days into photographing and writing that instructable.

Just read the Epilog Challenge rules. "... legal residents of the 50 United States ..." that's what it says. DARN!!!


P.S.: forgot! Great bot!

I entered the contest before I read that bit but then I got an email saying I had been accepted.

At this point it would be great to win as I have to send designs away, wait for them to come back then send away again if there are any mistakes.

I would love to be able to design and build stuff at home.

I wish you the best of luck!

I would love to have an Epilog at home even though I have absolutely NO space to put it.
Plus I am afraid of my 5-year-old kid messing with it and getting badly hurt (that goes for a CnC too).