2 layers100 × 130 mm
2 layers172 × 100.7 mm
Controller
RayaneGuebre/Quadruped-RobotMy first robot
- Size
- 172 × 100.7 mm
- Copper layers
- 2
- Thickness
- 1.6 mm
- Parts
- 7
- Nets
- 44
- Pads
- 84
- Tracks, vias
- 168, 10
- Routed
- Yes
- KiCad
- KiCad 9.0 (file 20241229)
- Created
- 25 Oct 2025
- Updated
- 5 Jun 2026
Overview
Controller is an open-source printed circuit board by RayaneGuebre, from the RayaneGuebre/Quadruped-Robot repository on GitHub. It is a 2-layer board of 172 × 100.7 mm with 7 parts on 44 nets, routed with 168 tracks and 10 vias.
It is built around the DFR0654 and COM-09032. Its parts include 4 switches and 3 ICs.
Main components
2README
README.mdQuadruped-Robot
What?
This is a customed-designed quadruped robot designed using Fusion360 and KiCAD, it's inspired by the very common hexapod robot design but i limited myself to 4 legs so that i could code the leg mobement by myself without using inversed kinematics
How?
the robot central part contains a grid of holes meant for brass heat inserts so that it can be customized and improved in the future
the robot is controlled using a pcb controller connected to the robot motherbooard, both using an esp32
the motherboard connects each pin of the esp32 to a screw terminal for future upgrades and changes
Why?
i started this project after being inspired by Nikodem Bartnik video where he builds another 4 legged robot and after realizing that i designed many project but i haven't built one yet, so here i am
BOM
| FIELD1 | FIELD2 | FIELD3 | FIELD4 | FIELD5 | FIELD6 | FIELD7 | €195,31(=225USD) | FIELD9 | FIELD10 | FIELD11 | FIELD12 | FIELD13 | FIELD14 | FIELD15 | FIELD16 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Name | Price | Qt | Link | Total | |||||||||||
| Motherboard Esp32 | €21,93 (with shipping) | 1 | Aliexpress | ||||||||||||
| Controller Esp32 | €21,93 (same as above) | 1 | Aliexpress | €22,17 | |||||||||||
| Servo Drivers | €1,65 | 1 | Aliexpress | € 1,65 | |||||||||||
| Servo Motor | €19,99 | 4 | Amazon | €79,96 | |||||||||||
| Motherboard PCB | €25,23 | 1 | JLCPCB | €25,23 | |||||||||||
| Controller PCB | €24,26 | 1 | JLCPCB | € 24,26 | |||||||||||
| Joystick | €6,5 | 1 | Aliexpress | €6,5 | |||||||||||
| Terminal blocks | €6,87 | 2 | Aliexpress | € 13,74 | |||||||||||
Parts
7Questions
How big is the Controller PCB?
It measures 172 × 100.7 mm and has 2 copper layers, 1.6 mm thick.
What parts does the Controller use?
7 parts, built around the DFR0654 and COM-09032. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
Where can I download the Controller KiCad files?
From the RayaneGuebre/Quadruped-Robot repository on GitHub, at the commit this page was made from: the board is PCB/Controller.kicad_pcb and its schematic PCB/Controller.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Can I use the Controller design in my own project?
Its repository states no licence, so its author keeps all rights: ask RayaneGuebre before reusing the design.
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