377 stars on GitHub. 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 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
Category: Mobile Robots
| Item | Qty | Unit Cost (USD) | Total (USD) | Notes | |------|-----|-----------------|-------------|-------| | ESP32 DevKit-C v4 | 1 | $8 | $8 | Main MCU — [Amazon search](https://www.amazon.com/s?k=ESP32+DevKitC+v4) | | ESP32-CAM (AI-Thinker, OV2640 v2) | 1 | $11 | $11 | First-person camera — [Amazon search](https://www.amazon.com/s?k=ESP32-CAM+OV2640) | | DS3218MG 20 kg digital servo (180°, MG, BB) | 12 | $18 | $216 | **Recommended** — 12 leg joints (3 per leg × 4 legs) — [Amazon search](https://www.amazon.com/s?k=DS3218MG+20kg+servo) | | MG996R 10 kg servo *(budget alternative — replaces DS3218MG)* | 12 | $5 | $60 | Cheap-build alternative — [Amazon search](https://www.amazon.com/s?k=MG996R+servo+pack) | | 2S 5200–6200 mAh LiPo battery, ≥30C (7.4V) | 1 | $45 | $45 | Power — [Amazon search](https://www.amazon.com/s?k=2S+5200mAh+30C+LiPo+battery) | | XL4016 / SZBK07 DC-DC step-down converter (≥10A) | 1 | $13 | $13 | 7.4V → 6V servo rail — [Amazon search](https://www.amazon.com/s?k=XL4016+DC+DC+step+down+converter) | | LM2596 buck module (3A) | 1 | $3 | $3 | 5V logic rail — [Amazon search](https://www.amazon.com/s?k=LM2596+buck+converter+module) | | PCA9685 16-channel I²C PWM driver | 1 | $6 | $6 | Drives 12 servos from ESP32 — [Amazon search](https://www.amazon.com/s?k=PCA9685+16+channel+PWM+driver) | | HC-SR04 Ultrasonic Distance Sensor | 2 | $4 | $8 | Front-facing obstacle detection — [Amazon search](https://www.amazon.com/s?k=HC-SR04+ultrasonic+sensor) | | GY-521 (MPU-6050) gyro+accelerometer module | 1 | $4 | $4 | Body IMU — [Amazon search](https://www.amazon.com/s?k=GY-521+MPU6050) | | 0.96" I²C OLED display (SSD1306, 128×64) | 1 | $5 | $5 | Status — [Amazon search](https://www.amazon.com/s?k=0.96+I2C+OLED+display+SSD1306) | | WS2812B 12-LED RGB ring | 1 | $7 | $7 | Status / "face" lighting — [Amazon search](https://www.amazon.com/s?k=WS2812B+12+LED+ring) | | ACS712 30A current sensor module | 1 | $3 | $3 | Battery monitoring — [Amazon search](https://www.amazon.com/s?k=ACS712+30A+current+sensor) | | 25V voltage divider sensor module | 1 | $3 | $3 | Battery voltage telemetry — [Amazon search](https://www.amazon.com/s?k=25V+voltage+sensor+module+arduino) | | 5V single-channel relay module (HW-482 / KY-019) | 1 | $4 | $4 | Power gating — [Amazon search](https://www.amazon.com/s?k=5V+relay+module+arduino) | | 19 mm illuminated metal push-button (latching) | 1 | $11 | $11 | Power-on switch — [Amazon search](https://www.amazon.com/s?k=19mm+illuminated+push+button+latching) | | 625ZZ deep-groove ball bearing (5×16×5) | 8 | $1 | $8 | Hip joints — [Amazon search](https://www.amazon.com/s?k=625ZZ+bearing+10pcs) | | Female-to-female Dupont jumper wires (40-pack) | 2 | $5 | $10 | Wiring — [Amazon search](https://www.amazon.com/s?k=female+dupont+jumper+wire+kit) | | XT60 connector pair | 2 | $2 | $4 | Battery connector — [Amazon search](https://www.amazon.com/s?k=XT60+connector+pair) | | M2×8 socket-head screw + nut (×84 pairs) | 1 | $9 | $9 | Project-specific — [Amazon search](https://www.amazon.com/s?k=M2+8+screw+nut+pack) | | M3×8 socket-head screw + nut (×80 pairs) | 1 | $9 | $9 | [Amazon search](https://www.amazon.com/s?k=M3+8+screw+nut+pack) | | M3×20 socket-head screw + nut (×64 pairs) | 1 | $13 | $13 | [Amazon search](https://www.amazon.com/s?k=M3+20+screw+nut+pack) | | 3D-printer filament (PLA, 1 kg + TPU 0.25 kg for feet) | 1 | $40 | $40 | Frame + grippy feet — [Amazon search](https://www.amazon.com/s?k=PLA+filament+1kg) / [TPU search](https://www.amazon.com/s?k=TPU+filament+95A+1kg) | **Estimated total: $290–$420 USD** with DS3218MG; $130–$180 USD with budget MG996R servos. Source: https://github.com/michaelkubina/SpotMicroESP32.