Building a Quadruped Walking Dog

This is an advance project to make a four-legged walking robot. Email parts@robotsforfun.com to get the parts for this project.

	Parts needed: Arduino Uno Quadruped frame 3D printed parts 8 SG90 or MG90 servo motors 1 male header strip 1 male 90-degree header strip 220uF or larger capacitor 6V 2800mAh rechargeble battery On/Off switch Soldering iron with very small tip Strong plastic glue Wires
	Constructing the robot frame
1	3D print the quadruped robot frame parts from this file. 1x Body 2x Shoulder 4x Leg 4x Foot
2	Glue the 8 white servo motor wipers to the 4 leg frames.
3	Attach 4 servo motors to the 4 feet. Pull the wire through the frame hole.
4	Attach 4 servo motors to the 2 shoulders. Pull the wire through the frame hole. Note the center tab on the shoulder frame is facing the outside.
5	Connect the two shoulders to the body. Make sure that the Arduino mounting holes are on the bottom.
6	Gently rotate all the motors clockwise until it stops.
7	Attach the legs to the shoulder moters according to the picture.
8	Attach the feet to the leg moters according to the picture.
	Constructing the servo motor wire connector
	There are 8 servo motors each with three wires to connect; a total of 24 wires. For each motor the middle red wire is the positive the black wire on one side is the negative the yellow wire on the other side is the control signal We will use the male header strip to make two blocks of 3x4 pin blocks for connecting the 24 servo wires.
9	Break the male header strip into six groups of 4 pins each. Glue three groups together to form a block of 3x4 pins. You need to make two 3x4 pin blocks.
10	Solder the capacitor to the two 3x4 pin blocks. One outer side of the two 3x4 pin blocks is for the servo signals and will be connected to pins 4 to 11 on the Arduino. So temporary use the Arduino to align the two blocks for correct spacing. Solder the positive + leg of the capacitor to all the middle pins of the SHORT ends of the two blocks. Solder the negative - leg of the capacitor to the other outside pins of the SHORT ends of the two blocks. Make sure that all the solder connections are good.
11	We want the servo wire plugs to be connected perpendicular (90 degrees) to the Arduino board. We will use the 90-degree header strip. Break the 90-degree header into two pieces of 4 pins each. Solder the SHORT ends of the two 4-pin 90-degree header strips to the servo control signal side of the SHORT ends of the two 3x4 pin blocks. Sholder the LONG ends of the two 4-pin 90-degree header strips to pins 4 to 11 on the Arduino. Make sure that all the solder connections are good.
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