STAR, an Arduino Robot Recreation

Prints (0)


I have recreated a 3D printed robot which can adjust its height to fit into tight spaces and even crawl under (some) doors. Here is a video showing my recreation in action:

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This robot is based on an existing design (called “STAR”) from a 2013 research paper. That design comes from David Zarrouk, Andrew Pullin, Nick Kohut and Ronald Fearing at the Biomimetic Millisystems Lab, UC Berkeley.

Here is a link to the original paper on this robot:

I have included a Bill of Materials (BOM) in .pdf form, which show the quantities and materials needed. I have also included the information needed to make the electronics from off the shelf components, as well as pictures of the final Protoboard layout.

Please keep in mind this is not a beginner level project. The mechanics are fairly straightforward, but the electronics are an involved project. Especially if you want the robot to be low profile enough to fit under a door.

I have also included the Arduino sketch that I used to run the robot. Good luck and enjoy!

Design Files

File Size

Wheel Motor Mount Bracket, STAR.STL
61.2 KB
Combo Bevel and Spur Gear, STAR.STL
380 KB
STAR Project - BOM.pdf
83 KB
3.58 KB
STAR- Protoboard Views and Creation Info v2.pdf
1.21 MB
STAR Electronic Schematic v2.pdf
1.89 MB
STAR- Assembly Notes.pdf
40.1 KB
Bevel Gear, STAR.STL
280 KB
Sprawl Middle Gear Mount Bracket, STAR.STL
47.3 KB
233 KB
Mirrored Wing, STAR.STL
237 KB
Main Body, STAR.STL
131 KB
407 KB
Gear Cap, STAR.STL
25.9 KB
Outer Pulley, STAR.STL
85.9 KB
Protoboard Dimensions, STAR.PDF
28.3 KB
Spur Gear, STAR.STL
122 KB
Sprawl Motor Gear, STAR.STL
154 KB
Sprawl Support Bar, STAR.STL
110 KB
Sprawl Motor Mount Bracket, STAR.STL
44.4 KB
Sprawl Middle Gear, STAR.STL
127 KB
Mirrored Wheel Motor Mount Bracket, STAR.STL
61.2 KB


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