ESP Quadruped Robot
An ESP8266-based quadruped with 3D-printable body and leg parts, firmware, and a gamepad control interface.
Project documentation
Before you build
Five answers, each linked to its source
What does it cost?
Not documented
No cost in the reviewed sources.
Can I sell what I build?
NoNon-commercial hardware
Hardware Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) · Software not documented. Licensing source
What’s open?
3 of 6CAD: AvailableBOM: AvailablePCB: Not documentedCode: AvailableSim: Not documentedGuide: Partial
Guide partial · PCB, sim not documented. All six files
Is it maintained?
Not documented
No activity snapshot yet. Activity
01 / Under the shell
The specifications.
Hardware, build and software on one sheet. Every fact links to where we found it.
ESP Quadruped Robot is a 3D-printable quadruped with firmware for ESP8266. Its bill of materials lists a Wemos D1 Mini or alternative and MG90S servos or alternatives, alongside STL files for the body, feet, and thighs. The README describes a Bootstrap table control interface with gamepad controls.
Hardware
- Actuators
- 8 · MG90S servos or alternative README
- Build
- 3D-printed · STL parts Documentation
- Controller
- ESP8266 (Wemos D1 Mini in the maker's case) README
- Servos
- 8 MG90S servos or alternatives README
Building it
02 / The files behind the robot
What’s open.
Six parts of the build, each checked separately. Gaps stay visible.
| Part | Status | What’s there | License | Source |
|---|---|---|---|---|
| CAD | Available | STL files for the body, foot, thigh, and mirrored thigh. | Not documented | stl_files/ |
| Bill of materials | Available | The README includes electronics and 3D-printed parts lists. | Not documented | README.md |
| Electronics | Not documented | Not documented | Not documented | No source found |
| Code | Available | ESP8266 firmware sketch. | Not documented | esp-quadruped-robot.ino |
| Simulation model | Not documented | Not documented | Not documented | No source found |
| Assembly guide | Partial | The README links to Jason's original instructions. | Not documented | drive.google.com |
03 / Know before you build
Can you sell it?
NoNon-commercial hardware
The design files are Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0), which restricts them to non-commercial use. Selling robots or parts made from the design needs the maker’s permission. Changes you distribute must be shared under the same license.
- Hardware
- Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
- Software
- Not documented
04 / The upstream project
Is it maintained?
Not documentedRepository activity is not documented
Active: activity within 90 days of the snapshot. Quiet: within a year. Dormant: longer.
05 / Parts & kits
A head start.
Maker-listed sellers only. No affiliate links or paid placement.
MAKER’S COST
Not documented
No cost in the reviewed sources.
Kit availability is not documented in our reviewed sources.
06 / Side by side
Compare with other quadrupeds.
Other quadrupeds in the directory, most recently active first. Same sources, same rules.
| Robot | Cost | Open files | Can I sell it? | Runs on | Maintained | Stars |
|---|---|---|---|---|---|---|
| ESP Quadruped RobotThis robotipepe | Not documented | 3 of 6 | NoHW Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) · SW not documented | Arduino | Not documented | — |
| Spot Micro - LeikaRune Harlyk | Not documented | 4 of 6 | YesHW MIT · SW MIT License | ESP32MuJoCo | ActiveOct 29, 2026 | 92 |
| Physical AntOpenmind-Research-Institute | $2,230.61BOM total | 4 of 6 | YesHW MIT · SW MIT | PythonMuJoCo | ActiveOct 29, 2026 | 76 |
| SesameDorian Todd | Not documented | 6 of 6 | YesHW Apache-2.0 · SW Apache-2.0 | ESP32ArduinoPython | ActiveOct 15, 2026 | 4,876 |
| This robotESP Quadruped Robot | Spot Micro - Leika | Physical Ant |
|---|---|---|
| Cost | ||
| Not documented | Not documented | $2,230.61 |
| Can I sell it? | ||
| No | Yes | Yes |
| Open files | ||
| 3 of 6 | 4 of 6 | 4 of 6 |
| Runs on | ||
| Arduino | ESP32, MuJoCo | Python, MuJoCo |
| Maintained | ||
| Not documented | ActiveOct 29, 2026 | ActiveOct 29, 2026 |
Upkeep is measured against each robot’s own snapshot. Costs keep the maker’s scope, so check what each figure covers.
See them in the table07 / Follow the evidence
Open books.
Repository files are pinned to commit a237ad8. Websites and papers are listed with their review dates.
- 01README.md at a237ad8Reviewed Nov 1, 2026
- 02LICENSE at a237ad8Reviewed Nov 1, 2026