Spider quadruped robot using NodeMUC-32S (ESP32) and MicroPython

Quadruped project using NodeMCU-32S and MicroPython.

Brief introduction

This project is about a spider quadruped. The robot can perform multiple gait in MOVE mode, and can rotate and translate with 6DOF in POSE mode.
Both Remote control and Calibration are done via Wi-Fi on ESP32.
Brian: NodeMCU-32S (ESP32).
Actuator: 12 × 20Kg servo.
Power supply: 3S 2200mAh Lipo battery. mini360 DC-DC bulk for powering ESP32, PCA9685 and MPU6050. 8A UBEC for 12 servos. Check the PCB file for details.
The body is 3D printed PLA.