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 eerie 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 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 or computer—no additional app required.

Whether you're learning about robotics, experimenting with inverse kinematics, or simply want to build one of the coolest walking robots around, Vantaphage is a project you'll be proud to show off.

🤖 Features

• Fully articulated 12-servo quadruped

• Walks forward, turns, and balances using inverse kinematics

• Onboard IMU for body stabilization

• 16-pixel RGB LED ring with customizable lighting effects

• Creates its own Wi-Fi access point for wireless control

• Browser-based interface for movement and lighting controls

• Nine built-in animations and tricks including:

  • 👋 Wave

  • 💓 Breathing / heartbeat

  • 🐶 Shake off

  • 🤸 Stretch

  • ...and more!

🧰 Electronics Required

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

Additional components include:

• SparkFun XRP Controller

• PCA9685 Servo Driver

• 12× Micro Servos

• 16-LED RGB Ring

• Qwiic IMU

• Separate power supplies for the XRP and servos

See the full build guide for wiring details and software setup.

🖨 Printing Notes

• Print the XRP holder first while preparing the electronics.

• Most parts print without supports.

• PLA or PETG recommended.

• Metal servo horns are recommended for increased durability.

• Heat-set inserts are used in the joint holders for additional strength.

💻 Software

The project runs on MicroPython using the SparkFun XRP platform.

Included software allows you to:

• Test LEDs

• Center servos for assembly

• Tune leg positioning

• Test walking gaits

• Control the robot over Wi-Fi

• Trigger built-in animations

🎯 Perfect For

• Robotics enthusiasts

• STEM classrooms

• FIRST Robotics teams

• Makers learning inverse kinematics

• Anyone looking for an advanced 3D-printed robotics project

🚀 Ready to Build?

Odd-Jayy has put together a build guide which can be found here:  WiFi Quadruped Robot Build Using SparkFun XRP Board

Download the models, gather the electronics, and bring Vantaphage to life. Once assembled, you'll have a fully programmable walking robot that blends engineering, creativity, and personality into one unforgettable 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!

Odd-Jayy＇s Builds Collection by DigiKey | Printables.com