Vantaphage – A Wi-Fi Controlled Walking Quadruped Robot

Designed by Jorvon Moss (aka Odd-Jayy), the Vantaphage is a unique 3D-printed quadruped robot inspired by the appearance of a bacteriophage virus. More than just a walking robot, Vantaphage combines robotics, inverse kinematics, expressive RGB lighting, and wireless control into an impressive open-source project.

Powered by the SparkFun XRP Controller, the robot features 12 micro servos, a 16-pixel RGB LED ring, onboard IMU balancing, and its own Wi-Fi access point, allowing you to control it directly from your phone, tablet, or computer through a web browser.

Whether you're learning robotics, experimenting with inverse kinematics, or simply looking for your next challenging build, Vantaphage is a rewarding project that blends engineering with creativity.

🤖 Features

• Fully articulated 12-servo quadruped
• Walks forward and turns using inverse kinematics
• Onboard IMU for body stabilization
• 16-pixel RGB LED ring with customizable lighting
• Creates its own Wi-Fi access point
• Browser-based controls—no app required
• Nine built-in animations and tricks, including:

- 👋 Wave

- 💓 Breathing / heartbeat

- 🐕 Shake-off

- 🤸 Stretch

- And more!

🧰 Electronics Required

This project is built around the SparkFun XRP platform and uses a PCA9685 servo controller to drive the servos.

Main components include:

• SparkFun XRP Controller
• PCA9685 Servo Driver
• 12× Micro Servos
• 16-Pixel RGB LED Ring
• Qwiic IMU
• Separate power supplies for the XRP and servo system

🖨️ Printing Notes

• Print the XRP Holder first while assembling the electronics.
• Most parts print without supports.
• PLA or PETG recommended.
• Metal servo horns are recommended for increased durability.
• Joint holders are designed for M2 heat-set inserts for added strength.

💻 Software

The robot runs on MicroPython using the SparkFun XRP platform.

Included software allows you to:

• Test LEDs
• Center servos for assembly
• Tune servo positions
• Test walking gaits
• Control the robot over Wi-Fi
• Trigger animations and lighting effects

🎯 Perfect For

• Robotics enthusiasts
• STEM educators and students
• FIRST Robotics teams
• Makers learning inverse kinematics
• Anyone looking for an advanced 3D-printed robotics project

🚀 Start Building!

Jorvon has put together a full build guide for this robot here: Vantaphage build guide

Download the files, print the parts, gather the electronics, and bring Vantaphage to life.

Once assembled, you'll have a fully programmable walking quadruped that combines mechanical design, embedded programming, and expressive lighting into one incredible robotics project.

Happy building!

🌟 More Robotics Projects by Odd-Jayy

If you enjoyed building the Vantaphage, be sure to check out Odd-Jayy's other open-source robotics projects for even more inspiration!