Open Source RoboticsRobots, software & learning

Aracna

Robot / hardware build

A 3D-printed quadruped research design with a v2.1 Raspberry Pi case update and separate gait-control code. [1] [3]

Build & first use →Official website

For
Quadruped research builders; Researchers studying evolutionary gait algorithms [1] [3]
Cost
No current cost or bill of materials established yet.
Source rights
Some licenses are unresolved. Review licenses
Unknowns
tools, operating system not fully established. Review gaps

Source researched · Not tested by us
Sources checked · Research details

Licenses & related hardware
License
not fully assessed for mechanical design, firmware, software, documentation · Details by part

Requirements · Research details and dates

On this page

Overview

Aracna is a 3D-printed quadruped built as a research platform for evolving gaits on a host computer and trying them on a physical robot. Its design and code are split across two repositories. The hardware README calls v2.1 the Raspberry Pi-compatible case update: it points to v2 mechanical files while the archive also contains separate v2.1 top and lid files. Inspect both directories before printing. [1] [2] [3]

The hardware archive supplies STL and SolidWorks parts. The companion software archive contains Python host code and embedded C, but this review has not matched those files to one assembled v2.1 controller and servo configuration. Start with the pinned hardware source and control source, then identify a single compatible parts list and wiring plan. [1] [2] [3] [4]

No license file was found in the hardware archive. The software repository contains GPLv3 text, which should not be assumed to grant reuse of the separate mechanical files. Current parts availability, a complete cost, assembly and calibration steps, and a working code-to-hardware match remain open. We have not printed, assembled or run Aracna. This is a historical design reference, not a verified build recipe. [1] [2] [4] [5]

Is this for you?

Known limitations
  • The v2.1 README links v2 designs but also has separate v2.1 top and lid files; combine only after fit review.
  • A configuration-matched full BOM, assembly procedure and controller/software compatibility are unverified.
  • No hardware license file was identified in the pinned hardware repository.

Bounded findings from the two inspected archives.

[1] [2] [3] [4] · Editorial assessment

What you need

Host computer

Raspberry Pi for the v2.1 enclosure; host computer for evolution workflow

[1] [3]

Dependencies
  • 3D-printed mechanical parts
  • Dynamixel/servo and controller choices to reconcile for the exact version

Source tree includes actuator and controller references; no complete matched BOM was found.

[1] [2] [4] · Editorial assessment

Hardware & parts

Hardware configuration

3D-printed quadruped

[1]

Assembly & first use

Project documentation [1]

Cost

No current, complete configuration-specific build cost has been established for this profile.

3D preview

Preview not available yet. V2 and V2.1 CAD are available, but a configuration-matched assembly and hardware reuse grant are unresolved for an interactive preview.

Model sources

V2 and V2.1 CAD are available, but a configuration-matched assembly and hardware reuse grant are unresolved for an interactive preview.

What we checked

Source research only; no fabrication, code installation, gait evolution, runtime or hardware test performed.

Not yet established

  • Requirements: operating system, tools
  • A step-by-step setup summary

Updates

Upstream last updated
Mar 5, 2015 [2]
Latest release
Not established
Profile updated
Oct 24, 2026
Sources last checked
Oct 24, 2026
Next review
Nov 24, 2026
Reviewed revision
hardware 6361134bf54840afe893e7f62b9b88ac2bb74431; linked software 3acba0cc050dce68c2b1693ef88cdbedeee4dcfb (commit snapshots) · combined hardware and software repository

Source files and licenses

The robot has inspectable printable design and control sources, but mechanical rights and a complete matched build path remain unresolved.

LayerAvailability / license
mechanical designavailable · License not fully assessed
V2 printable and SolidWorks files plus separate V2.1 case updates are available; no hardware grant identified. [1] [2]
firmwareavailable · License not fully assessed
Embedded C source is present; exact target/controller pairing and file-level rights need review. [3] [4] [5]
softwareavailable · License not fully assessed
Host Python source is present. GPLv3 text is in this software repository; exact file grants were not independently established. [3] [4] [5]
documentationavailable · License not fully assessed
Hardware README gives version differences, but no complete v2.1 assembly guide or documentation grant was identified. [1] [2]

Not a released independent artifact established for this scoped profile.

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history