HardLabs

Quadruped-Robot

eluluke·Quadruped-Robot·KiCAD Files/BHL S1 copied-footprint Fixed/BHL S1 copied.kicad_pcb

Quadruped-Robot PCB layout, top view — open source STM32 board by eluluke

About the Quadruped-Robot PCB

Quadruped-Robot is an open source STM32 PCB design by eluluke, published on GitHub under the Apache-2.0 license. It is a 2-layer board measuring 64 × 64 mm, with 96 components from 48 distinct parts.

Its main chip is the STM32G431CBU6, from the STM32 family. Other key parts include the NUP2105LT1G, IR2136STRPBF, ME6211C30M5, SPX3819M5-L-5-0 and Solder Pad. By type, the board carries 35 resistors, 31 capacitors, 7 ICs, 6 transistors, 6 diodes and 2 connectors.

It belongs with the robotics & motion designs in this gallery.

From the project

Open-source, 3D-printable, modular quadruped robot designed as a hardware platform for robotics education, controls development, kinematics, reinforcement learning, robotic vision, and future semi-commercial research applications.

Open-source, 3D-printable, modular quadruped robot designed as a hardware platform for robotics education, controls development, kinematics, reinforcement learning, robotic vision, and future semi-commercial research applications.

This project focuses on building a practical legged robot platform using custom cycloidal actuators, off-the-shelf electronics, CAN-based motor communication, and open-source low-level motor control software. The goal is to create a robot that is mechanically capable, reproducible, and flexible enough for future work in locomotion, autonomous navigation, and…

Main components on the Quadruped-Robot

NUP2105LT1GIR2136STRPBFME6211C30M5SPX3819M5-L-5-0Solder PadSTM32G431CBU6

Quadruped-Robot bill of materials (BOM)

96 components, 48 distinct parts — part numbers from the project's BOM.

QtyPartRefs
2
NUP2105LT1G
IC1, IC2
1
IR2136STRPBF
IC3
1
ME6211C30M5
U1
1
SPX3819M5-L-5-0
U2
1
Solder Pad
U3
1
STM32G431CBU6
U4
6
CSD19502Q5B
Q1, Q2, Q3, Q4, Q5, Q7
1
8MHz
Y2
1
39-30-1042
Conn_01x03_Pin
J1
1
CONN_01X03_PIN
Conn_01x03_Pin
J2
1
~
AS5600
2
~
Header2X2H1, Header2X2H2
1
~
ME3116
1
1571563-6
S1
1
~
TCAN1051HGVDR1
1
3314J-1-103G
10k
VR1
1
LED GREEN
D1
2
STPS1L40M
D2, D3
3
1N4148WT
D4, D5, D6
1
6.8UH
6.8uH
L1
Show 28 more
QtyPartRefs
9
0.1UF
0.1uF
C1, C3, C4, C12, C13, C17, C18, C30 +1
3
10UF
10uF
C2, C14, C16
1
10UF/35V
0.1uF
C5
5
0.1uF
C6, C7, C8, C9, C10
1
1000PF
1000pF
C11
1
100PF
100pF
C15
3
1UF/25V
1uF/25V
C19, C20, C21
1
470UF
470uF
C22
4
10UF/35V
10uF/35V
C23, C24, C25, C26
2
0.1UF
470uF
C27, C28
1
10uF/35V
C29
1
0
R1
1
10K
R2
2
1M
R3, R7
1
10K
510
R4
1
510K
510
R5
1
14K
R6
1
1K
R8
3
1.5K
R9, R12, R15
3
22K
R10, R13, R14
3
2.2K
R11, R16, R17
6
22
R18, R19, R21, R22, R24, R25
3
3MOHM
3mOhm
R20, R23, R26
4
0
R27, R28, R29, R30
1
169K
R31
1
18K
R32
2
10K
R33, R34
1
4.7K
R36

Quadruped-Robot design files

The KiCad project lives in the eluluke/Quadruped-Robot repository on GitHub; these links point at the commit this page was built from.

Quadruped-Robot: common questions

What microcontroller does the Quadruped-Robot use?

The Quadruped-Robot is built around the STM32G431CBU6, from the STM32 family.

How big is the Quadruped-Robot PCB?

The Quadruped-Robot measures 64 × 64 mm, has 2 copper layers and is 1.6 mm thick.

How many components are on the Quadruped-Robot?

96 components, from 48 distinct parts, with part numbers taken from the project's own BOM. The full bill of materials is listed on this page.

Where can I download the Quadruped-Robot design files?

From the eluluke/Quadruped-Robot repository on GitHub, which has the KiCad layout, the schematic and the BOM; the links under Design files point to each one.

Can I use the Quadruped-Robot design in my own project?

Yes, under the terms of its Apache-2.0 license, which eluluke chose for the repository.

Can I test firmware for the Quadruped-Robot without the hardware?

Yes. HardLabs builds a simulation of the board from its netlist and BOM, so you can run and debug STM32 firmware against it before you order a PCB.

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