WALKING ROBOTS / QUADRUPED

PawFour legs. One system to understand.

Paw lays out eight servos around a central power and control body. Its in-place leg cycle makes a larger assembly easier to understand while you work through naming, grouping, wiring and independent servo commands.

Build with Paw Explore the design

Includes assembly, starter wiring and executable virtual JavaScript.

ASSEMBLY PREVIEW/WALKER

Paw · Quadruped concept illustration; the 3D preview uses the actual preset geometry

Static illustration · loading 3D

Orbit the actual starter assembly. Open the workbench to edit or run it.

24components

28starter connections

1.07 kgestimated component mass

ESP32-S3control platform

Paw · Quadruped, an illustrated walking robots assembly

Concept illustration · inspect actual geometry above.

A COMPLETE STARTING POINT

Get to know
what's inside.

Four legs, eight servo positions and a central power/control body. All 24 components and 28 starter connections remain editable in your own project.

Multi-servo assembliesLegged robot layoutsPower distribution planning

View the included component types

Quadruped body
Position servo
Upper leg
Lower leg
Support foot
2S battery · 2.2 Ah
5 V buck regulator
ESP32-S3 · virtual controller

YOUR FIRST THREE EXPERIMENTS

Build understanding.
One change at a time.

Use the starting assembly to ask better questions about your design. Save a copy, change a parameter and compare what happens.

Inspect the design

Run the eight-servo in-place cycle and follow each named leg joint.

Try a change

Isolate a leg group to inspect its upper link, knee, lower link and foot.

Compare and learn

Trace the common power rails and independent control channels for all eight servos.

walker-quadruped.jsVIRTUAL API

const legs = ["rear-left","rear-right","front-left","front-right"];
function step(robot) {
  robot.drive(0, 0);
  if (robot.brownout || robot.battery.voltage < 6.25) { robot.display('🪫'); return; }
  legs.forEach((leg, i) => {
    const phase = robot.time * 2 + (i === 0 || i === 3 ? 0 : 1) * Math.PI;
    robot.servo('leg-' + leg + '-hip', 0.14 * Math.sin(phase));
    robot.servo('leg-' + leg + '-knee', 0.10 * (1 - Math.cos(phase)));
  });
  robot.display('😊');
}

The full, editable starter script is included in the workbench.

KNOW WHAT YOU'RE TESTING

Kinematic motion preview

Eight independent servo commands animate an in-place leg cycle. Contact shapes remain at the reference pose; no dynamic gait, locomotion, balance or footfall solver.