The Quarky Robo Dog Mini is more than just a robot. It is a compact, four-legged walking companion powered by Quarky, an ESP32-based robotics controller designed for hands-on STEM learning. Unlike wheeled robots, the Mini Robo Dog moves on servo-driven legs, making it an excellent platform for studying robot locomotion, joint control, balance, and calibration.
Robo Dog Mini can be programmed using PictoBlox, making it suitable for students, educators, makerspaces, and beginners in robotics who want to explore walking robots in a structured, approachable way.
If you have not 3D printed the parts yet, download the 3D print files and print them before proceeding with the assembly. Also, download the Quarky Robo Dog Mini example file before you begin.
3D Printing files:
Block Coding Files:
Note:
- Follow the assembly steps in sequence to avoid misalignment.
Quarky Robo Dog Mini Components
You will also require the following additional tools:
- Side cutter, scissors, or nail cutter (for trimming servo horn)
- Filer (To sand 3D printer parts if required)
Assembly Steps of Quarky Robo Dog Mini
Servo Motor Initialization
Before any physical assembly, all servo motors must be calibrated to 90° to ensure correct alignment.
Step 1: Connect the First Servo to Quarky
Connect the first servo motor to the first Quarky Servo Connector, ensuring the brown wire is on the left side.
Step 2: Make sure PictoBlox is installed on your device.
Click here to visit the Download PictoBlox Page, select your operating system, and download the latest version of PictoBlox software.
Note: Please use PictoBlox version 9.1.0 or later to support Quarky’s latest Extensions.
Step 3: Open PictoBlox and select the Block Coding environment.
Step 4: Connect your Quarky to your computer using a USB cable.
Step 5: Click on the Board button from the toolbar and select Quarky.
Step 6: Select the appropriate Serial Port Connection method if connected via USB, or the Bluetooth Port if connecting wirelessly, then press Connect.
Step 7: Run the servo Initialization Script
Create the servo initialization script in PictoBlox and click the Green Flag to run it. If you hear the servo motor spin, it has now been set to 90°. If there is no sound, it is already at 90°.
Step 8: Repeat for All Servos
Remove the servo motor from Quarky and repeat the steps for all four servo motors to calibrate. You can refer to Servo Motors & Calibration – Quarky for more info.
Assembling the Body Top
Step 9: Insert On-Off Switch Extension
Insert the On-Off Switch Extension into the designated slot on the Body Top.
Step 10: Place Quarky on the Body Top
Place Quarky on the Body Top, ensuring that Quarky’s power switch aligns correctly with the On-Off Switch Extension.
Step 11: Secure Quarky With M2 Bolts
Secure Quarky onto the Body Top using M2 6mm Bolts, ensuring Quarky’s power switch remains correctly aligned with the On-Off Switch Extension.
Note: Keep Quarky powered ON and the switch extension fully inserted into the Body Top to help with alignment. After securing the board, switch Quarky OFF before proceeding for safety.
Step 12: Connect and Place Battery
Connect the 3.7V Battery (1000 mAh) to Quarky and place it securely into the battery slot of the Body Top.
Preparing the Body Base
Step 13: Attach Ultrasonic Sensor Cable
Attach the Ultrasonic Sensor Cable to the Ultrasonic Sensor.
For more information, please refer to Introduction to Ultrasonic Sensors and Quarky.
Step 14: Insert Ultrasonic Sensor
Insert the Ultrasonic Sensor into the designated slot on the Body Base, ensuring that the sensor faces forward.
Step 15: Place the Expansion Board on the Body Base
Place the Quarky Expansion Board onto the Body Base in its designated mounting position and snap it into place.
Step 16: Bend Ultrasonic Sensor Pins
The Ultrasonic Sensor pins are straight by default. If the Ultrasonic Sensor has right-angled 2.54mm Male Header Pins, carefully straighten or bend them as needed before continuing.
Step 17: Insert All Four Servo Motors
Insert all four MG90S Servo Motors into their respective slots on the Body Base.
Connecting Electronics and Finalizing the Body
Step 18: Connect Servo and Sensor Cables
Connect the cables from all four MG90S Servo Motors and the Ultrasonic Sensor Cable to the appropriate ports on the Quarky Expansion Board.
Step 19: Connect Expansion Board Connectors
Connect the Set of Quarky Expansion Board Connectors to the Quarky Expansion Board (on the Body Base) according to the wiring diagram provided.
Note: Please set the Quarky Expansion Board to Internal Mode before proceeding.
Step 20: Organise Cables With Wiring Organiser
Carefully organise all cables within the Body Base and fix them in place using the Wiring Organiser part to keep everything tidy and secure.
Step 21: Join Body Top and Base With M3 Bolts
Place the Body Top onto the Body Base, ensuring proper alignment of all components, then secure them together using M3 12mm Bolts.
Step 22: Connect Connectors to Quarky
Connect the Set of Quarky Expansion Board Connectors to the Quarky (on the Body Top) according to the wiring diagram provided in Step 19.
Step 23: Bend Connectors to Form Tail
Bend the Quarky Expansion Board Connectors outward to form a small tail for your dog, leaving approximately 3–4 cm sticking out.
Attaching the Legs
Step 24: Trim Servo Double Arms
Make sure all servo motors are confirmed at 90° (neutral position) before attaching any legs.
Trim the Servo Double Arms using a side cutter, scissors, or nail cutter (included with the MG90S Servo Motor accessories) as shown in the diagram, so they slide easily into the Legs.
Note: Make sure three holes remain on the Servo Double Arms after trimming.
Step 25: Affix Servo Arms to Legs
Affix the trimmed Servo Double Arms to all four Legs using the M2 Screws provided with the servo accessories.
Note: Different types of Servo Double Arms may require different attachment orientations inside the Legs.
Step 26: Attach Legs to Servo Shafts
Attach the assembled Legs onto the servo motor shafts. Ensure the legs are mounted perpendicular (standing position) relative to the robot’s body.
Step 27: Secure Legs With M2 Bolts
Secure all four legs firmly using the M2 Bolts found in the servo motor accessories pouches.
Step 28: Assembly Complete
The assembly of the Quarky Robo Dog Mini is now complete. Verify that all legs are upright, all cables are organized, and all bolts are tightened before powering on.
Programming With PictoBlox
Step 29: Open Project and Connect Quarky
- Ensure the latest version of PictoBlox is installed for smooth operation. You can check for the latest version or Download PictoBlox.
- Open the Quarky Robo Dog Mini.sb3 project file in PictoBlox.
- Connect your Quarky using either the Serial Port Connection method or the Bluetooth connection method.
Step 26: Click Green Flag to Run Program
Click the Green Flag to execute the program.
Step 30: Operate Using Keyboard Keys
Use the following keyboard keys to operate the Robo Dog Mini:
X — Calibrate servos
0 — Legs down (sit)
1 — Say Hi
2 — Dance
3 — Splot (fun action)
5 — Stand straight
6 — Pee
7 — Go forward
8 — Legs stand
You can now explore walking patterns, balance control, and interactive behaviors, or create your own steps and functions using PictoBlox. Have fun with your new companion!
Now that your Quarky Robo Dog Mini is assembled and ready to go, you can take your robotics journey even further. Quarky is a versatile robotics controller that powers a wide range of exciting AI, robotics, and automation projects.
If you enjoyed building and programming the Robo Dog Mini, explore these additional Quarky-based projects to expand your skills in robotics, coding, and artificial intelligence:
- Robot Pet with Python – Build an intelligent robotic pet that can interact, respond, and perform engaging actions using Python programming.
- AI Delivery Robot with Python – Create a smart delivery robot capable of navigating and transporting objects autonomously.
- Wirelessly Controlled Robot with Python– Learn how to control a robot remotely using wireless communication and Python.
These projects are perfect for students, educators, makerspaces, and robotics enthusiasts who want to continue experimenting with Quarky.