Kindly Morrow
K16 Programmable Robot Dog
Write the code that makes a four-legged robot walk. The K16 is a servo-driven quadruped with open firmware, 8 independently controlled joints, and a footprint small enough for a desk corner. This is a hands-on platform for gait programming, kinematics experiments, and anyone who wants to understand locomotion from the ground up.
Each leg has two joints (hip and knee) driven by standard 9g-class micro servos, giving you per-joint PWM control over stance, stride, and balance. The default firmware ships walking so you can verify assembly immediately, then the codebase is fully open for you to gut and rebuild. Compatible with Arduino, ESP32, and RP2040 if you want to swap the control board entirely.
Things to build with this
- Implement a trot gait from scratch using sine wave timing across opposing diagonal leg pairs (left-front + right-rear, right-front + left-rear), tuning phase offset and amplitude directly in firmware to find the torque limits of the 9g servos
- Swap the default control board for an ESP32, mount an ultrasonic sensor at the nose, and write interrupt-driven obstacle detection that triggers a reverse-and-turn sequence using live PWM adjustments mid-stride
- Use the two-joint-per-leg structure to prototype inverse kinematics: define a target foot position in 2D space and solve for hip and knee angles mathematically, then validate your equations by watching the physical leg track the path
Key Features
- 8 servos total: 2 per leg (hip + knee), standard 9g-class, replaceable with off-the-shelf equivalents
- Open firmware: read, modify, and flash your own builds without proprietary tools or locked ecosystems
- Per-joint PWM control: program stance, stride, and balance independently on all four legs
- Ships walking: default firmware demonstrates basic gait so you can verify assembly before you start rewriting
- Microcontroller-agnostic: swap in Arduino, ESP32, or RP2040 as long as you can drive the servo signal lines
- Compact chassis: desk-friendly footprint, no dedicated floor space required
- Works reliably on flat hard surfaces: desks, tables, hardwood floors
Frequently Asked Questions
What microcontroller does the K16 ship with, and can I replace it?
It comes with a built-in control board that drives the servos over standard PWM signals. You can replace it with any microcontroller that can output PWM on enough pins to drive 8 servos simultaneously. Arduino Nano, ESP32, and RP2040 all work.
Do I have to program it before it walks?
No. Default firmware is pre-loaded and demonstrates a basic walking gait so you can confirm the assembly is correct first. Once it's moving, the full codebase is open for you to modify or replace entirely.
What surfaces does it actually walk on reliably?
Flat, hard surfaces: desks, tables, hardwood, smooth tile. Carpet creates too much friction for the stock 9g servo torque to push through consistently. If you need carpet capability, higher-torque servo swaps are possible since the mounts use standard sizing.
Can I add sensors or other hardware to the frame?
Yes. The chassis has mounting points and the open firmware means you wire in whatever you want and write the integration yourself. Ultrasonic sensors, IMUs, and small cameras have all been added by builders using this platform.
Why we stock this
Curated by Kindly Morrow. We test and vet every product before it hits the store. If we wouldn't use it in our own builds, we don't sell it.
Things to build with this
Fun projects to try once you get your hands on it.
AI-controlled robot arm that sorts your desk
Connect it to Claude, point a camera at your desk, and let it pick up pens and put them back in the holder. Gloriously unnecessary.
Line-following robot for your hallway
Tape a black line from your office to the kitchen. The robot follows it carrying your coffee mug. Will your cat attack it? Probably.
Gesture-controlled car
Strap an accelerometer to your hand and steer the robot car by tilting. Makes you feel like a Jedi. Kids will never give it back.
Security patrol bot
Program a route through your house. Add a camera. Stream to your phone. Your dog will be confused, but your house will be watched.
