Introduction

In this project, the crawler-hybrid robot features two locomotion modes: quadruped mode and tracked mode, enabling it to adapt its configuration for varying environments and terrains. The quadruped configuration offers 8 total degrees of freedom (DOF), with 2 DOF per leg. The foot-end design is seamlessly incorporated into the tracked assembly, where each track unit is powered by a dedicated DC motor.

The robot's central control board employs an ESP32-WROVER-E MCU (with the V2.0 variant using ESP32-PICO-D4), supporting integrated control of bus servos, PWM servos, and DC motors. It also incorporates additional hardware components, including a six-axis accelerometer, OLED display interface, RGB LED beads, and a buzzer.

In tracked mode, the robot achieves high speeds on smooth or mildly uneven surfaces while minimizing energy use compared to legged locomotion. The quadruped mode excels at surmounting obstacles, adapting nimbly to diverse and challenging terrains, and addressing the elevation limitations inherent in tracked designs. The core innovation lies in the leg-track synergy, which merges the strengths of biomimetic quadrupeds with tracked mobility to overcome steep drops and other difficult topographical challenges.

Find the full project description here:[https://www.printables.com/model/1474716-titan](https://www.printables.com/model/1474716-titan)

Print guideline

Here are print guidelines for you to follow in order to have decent success with printing parts:

Infill typeGyroid, Honeycomb, Triangle or CubicMaterial StructuralPETG or ASA, ABS, PCTG, PA, PC, (TPU for Feet)Material VisualPLA or whatever you think looks good.Infill percentage35% Structural | 15% CosmeticLayer height0.2mm, recommendedWall countRecommended: 4Solid top/bottom layersRecommended: 5Extrusion width0.4mm, recommended

Necessary/Good to have tools needed before starting the project:

Proper wire cutters, wire strippers a precisions screwdriver set are necessary.You will also need a soldering iron to solder wires and to press heat inserts.  

Soldering Iron TS101 Aliexpress Link Amazon Link (Recommended) Heat Inset Tip Kit - For TS101 Aliexpress Link Amazon Link (Recommended) Electric Precision Screwdriver  Aliexpress Link Amazon Link (Recommended) Allen Key Set Aliexpress Link Amazon Link  Torx Key Set Aliexpress Link Amazon Link  Torque Screwdriver Aliexpress Link Amazon Link  Wire stripper Aliexpress Link Amazon Link  Wire cutter Aliexpress Link Amazon Link  Heat Insert Press Tool Aliexpress Link Amazon Link  Crimp Tool Aliexpress Link Amazon Link      Soldering Iron - Generic (Alternative) Aliexpress Link Amazon Link Budget friendly alternative Heat insert tip - set (Alternative) Aliexpress Link Amazon Link Budget friendly alternative Precision Screwdriver Set Aliexpress LinkA mazon Link Budget friendly alternative

Software

You can download the code for the project here.[https://github.com/ToolKnox/Titan](https://github.com/ToolKnox/Titan)The Project is  made in VScode + PlatformIO

 lib:

• Adafruit_NeoPixel: WS2812B lamp bead driver control (a little bug, the first lamp bead is somewhat uncontrolled and needs to be changed)
• Adafruit_PWM_Servo_Driver_Library: PCA9685 communication and driver library
• MPU6050: Acceleration sensor
• U8g2: For 0.96 inch OLED screen driver

src/drive:

• Hiwonde.h/.cpp: Serial bus steering gear communication library
• ServoDrive.h/.cpp: PWM steering gear drive control library (PCA9685)
• IOs. h/. cpp: GPIO pin configuration and control library
• IMU.h/.cpp: MPU6050 acceleration sensor communication library
• DCMotorDrive.h/.cpp: DC Motor Drive Control Library

src/dynamics:

• FKIK.h/.cpp: One-legged forward and reverse decryption
• MotionControl.h/.cpp: Robot motion and attitude control library

Mobile App:

• Android

• WIFI Communication

• TCP protocol