Mechanical assembly is covered only by links to older Spot Micro guides, not by this project's own docs.
Leika is an ESP32 version of the Spot Micro hobby-servo robot dog, using community remixes of the original printed frame with 12 servos and a PCA9685 driver. Its firmware runs the kinematics and gaits on the ESP32 and serves a browser controller with joysticks, a 3D view and servo calibration. A MuJoCo simulation with a reinforcement-learning layer shares the same gait code.
At a glance
| Parts cost | $230–$600 estimated How Estimated for this page from current retail prices (2026-10-02) of the parts in the project parts list source ↗ Build priced Standard Leika with ESP32-S3 camera board, PCA9685, 4x18650 in 2S2P and an MPU6050; low = MG996R servos plus a 20A buck converter, high = CLS6336HV high-voltage servos (no servo buck needed) Not included 3D printing, tools, shipping, tax; 18650 charger |
|---|---|
| Difficulty | 3/5 Intermediate · Printing and wiring are hobby-level and firmware flashes from the browser, but the frame is large and servo calibration takes care. |
| Build time | Not stated |
| Tools needed | 3D printer (full Spot Micro frame, many large parts), soldering (power wiring, thicker PCA9685 traces suggested), screwdrivers and hex keys |
| Motors | 12 hobby servos (MG996R minimum, CLS6336HV recommended) |
| Controller | ESP32 or ESP32-S3 (camera board suggested) with PCA9685 servo driver |
| Sensors | Optional ICM-20948, BNO055 or MPU6050 IMU, camera, magnetometer, gesture sensor |
| Published | ✓ Parts list✓ CAD/STL✓ Assembly guide✓ Wiring✓ Software✗ Video GitHub docs folder (components, assembly, software, configuration) + browser firmware flasher; mechanical assembly links to external Spot Micro guides |
| Activity | Last update 2026-10-02 · 85 GitHub stars · 26 forks, active GitHub issues; builds on the wider Spot Micro community |
| Kits | No kit |
Licenses
| Design files | CC BY 4.0 (the Thingiverse frames it uses, by KDY0523, Kooba and robjk) source ↗ |
|---|---|
| Code | MIT source ↗ |
| Documentation | MIT (docs folder in the same repo) source ↗ |
Builder notes
Practical points from the project's issue tracker, forum and docs, each linked to its source.
- The repo has no mechanical assembly steps of its own. It sends builders to the older SpotMicroESP32 and SpotMicroAI assembly guides, since the printed parts are remixes of those frames. source ↗
- Calibration assumes a fixed servo center and gear ratio, so each servo horn has to be fitted close to the standing pose during assembly. Small errors can be trimmed in the web app, large ones mean refitting the horn. source ↗
- Several parts listed in the component table are not usable yet. The ultrasonic sensors need a library the build lacks, and the OLED display and mode button have no firmware support. source ↗
- MG996R servos are listed only as the minimum and the author recommends CLS6336HV units, and that choice more than doubles the parts budget. source ↗
Other quadrupeds plans
- Kame32 (MiniKame successor) · $90–$100 · difficulty 2/5
- Stanford Pupper (servo version) · $900–$1,000 (2024) · difficulty 3/5
- Spot Micro (SpotMicroAI) · $420–$510 · difficulty 3/5
- Pupper v3 · $2,000 · difficulty 4/5
- ODRI Solo 12 · $7,100 (2022) · difficulty 5/5
- Mini Pupper (MangDang) · $760 · difficulty 2/5
- Dingo Quadruped · $900 · difficulty 3/5
- Stanford Pupper v2.1 (DJI motor version) · $1,600 (2023) · difficulty 4/5
- openDog V3 · $2,800–$3,400 (2023) · difficulty 4/5