Designing and Controlling Quadruped Spider Robot with ESP32

The Designing and Controlling Quadruped Spider Robot with ESP32 project operates by integrating processing, power conversion, and mechanical actuation to achieve legged locomotion. At the center of the system is the ESP32 microcontroller, which executes programmed movement routines developed in the Arduino IDE and outputs Pulse Width Modulation (PWM) signals. Because a quadruped spider robot requires precise joint articulation, the ESP32 coordinates eight SG90 plastic gear servo motors, with two motors dedicated to each of the four legs to manage horizontal and vertical movement. Power management is a critical aspect of the circuit architecture: a 12V Li-ion battery supplies the primary energy source, which is routed through a power switch for user control. To protect the sensitive ESP32 microcontroller and step down the voltage to levels safe for the logic components, an LM2596 DC-DC buck converter efficiently regulates the high 12V input down to a stable lower voltage. Jumper wires, a breadboard or custom PCB, and physical fasteners such as screws, nuts, and spacers securely connect the electrical components to the custom acrylic spider body parts. Together, the microcontroller processes commands and translates them into electrical PWM pulses, the buck converter ensures stable power delivery, and the servo motors mechanically drive the acrylic linkages to execute walking, turning, and balancing gaits.