OpenQuadruped
Based on published sources · Not tested by us ·
Overview
Twelve-servo printed quadruped prototype with CAD, PCB files and ROS control sources; calibration, gait refinement and build instructions remain incomplete. [S001]
OpenQuadruped is a twelve-servo printed quadruped for exploring leg inverse kinematics, body pose and gait generation. Its repository contains STEP/STL parts, PCB Gerber archives and ROS-related control sources. The selected README still lists joint calibration, gait refinement and right-leg inverse-kinematics validation as unfinished work, so this is a prototype-development starting point rather than a verified assembly-and-walk recipe. [S001] [S005]
Specifications
| Detail | Description |
|---|---|
| Type | Printed quadruped with three joints per leg. Reported by source [S001] · Checked 2026-10-01 |
| Intended users | Developers willing to complete and validate a prototype robot control stack Editorial assessment [S001] · Checked 2026-10-01 |
| Assembly | STEP/STL mechanical files and PCB Gerber archives are present; printed assembly instructions are marked in progress. Reported by source [S005] [S006] · Checked 2026-10-01 |
| Calibration | Joint-servo calibration, gait refinement and right-leg IK validation remain unchecked tasks in the selected README. Reported by source [S001] · Checked 2026-10-01 |
| Operating system | Not known |
| Computer needed | Not known |
3D preview
Preview not available yet. A model has not yet been prepared and approved for display on this page. This does not mean the project lacks CAD files; see Source files and licenses for the reviewed source availability.
Assembly and use
Recover the parts configuration before ordering
The mechanical folder contains files for the body, covers and left/right leg assemblies. Its instructions are explicitly marked in progress. The README links a Google spreadsheet as the BOM, but the connected retrieval attempt returned 404. That establishes a gap in this review, not proof that the sheet has been deleted or the hardware is closed. A matched parts list and current complete cost remain unverified. [S001] [S005] [S006] [S011]
The wiki's wiring page allows configuration differences, including Raspberry Pi versus Jetson Nano and voltage-converter choices. It also warns that the pictured switch's ground connection serves its indicator light and must not be copied blindly to a different switch. Read that diagram as an integration reference for a selected configuration, not a universal wiring prescription. [S008]
Architecture is not implementation status
The wiki describes a Jetson Nano producing foot-position targets and a Teensy converting them into joint angles and coordinated servo motion over rosserial. It separates static body-pose control from the gait-generation path. The networking notes describe laptop-to-Jetson access as a debugging convenience with latency, rather than a completed remote-control performance claim. [S007] [S009]
The architecture page also describes a reinforcement-learning stage, while the main README still leaves reinforcement learning unchecked. The README is similarly explicit that the older custom matplotlib visualization has not been ported to the new control library and is likely broken; it notes nonworking pitch and roll. Those descriptions should not be promoted into claims that every illustrated control path runs in the saved revision. [S001] [S007]
A useful next step is to establish a matched BOM, inspect the current code against that architecture, complete servo calibration and validate the leg model before tuning a gait. This is an editorial work sequence based on the recorded gaps. No firmware build, simulation or physical test was performed here. [S001] [S006] [S007] [S011]
Keep mesh attribution separate
The root license contains MIT text followed by an explicit, formal creator-credit requirement and a DMCA statement. The effect of that addition on reuse terms is unresolved in this review, so do not assume an unmodified MIT grant; obtain clarification before relying on that interpretation. Separately, the bundled simulation-mesh directory includes a separate notice crediting KDY0523's SpotMicro design under CC-BY-3.0. Preserve those terms when reusing that asset set. Presence of those meshes does not establish that the simulation exactly matches the modified mechanical build. This profile records the available artifacts and prototype limits without claiming a completed reproduction. [S003] [S005] [S010]
Cost
No current, complete configuration-specific build cost has been established for this profile.
Source files and licenses
Available project sources support research coverage; complete build and commercial qualification remain separate.
| Layer | Availability / license |
|---|---|
| mechanical design | available · MIT text with additional attribution clause Root MIT text with appended explicit/formal creator-credit clause; effect on reuse terms unresolved; bundled third-party simulation meshes have separate CC-BY-3.0 attribution. Purchased components retain their own terms. [S001] [S003] [S005] |
| electronics | available · MIT text with additional attribution clause Root MIT text with appended explicit/formal creator-credit clause; effect on reuse terms unresolved; bundled third-party simulation meshes have separate CC-BY-3.0 attribution. Purchased components retain their own terms. [S001] [S003] [S005] |
| firmware | available · MIT text with additional attribution clause Embedded control sources described in repository/wiki; complete functioning firmware build not verified. [S001] [S003] [S005] [S007] |
| software | available · MIT text with additional attribution clause Root MIT text with appended explicit/formal creator-credit clause; effect on reuse terms unresolved; bundled third-party simulation meshes have separate CC-BY-3.0 attribution. Purchased components retain their own terms. [S001] [S003] [S005] |
| documentation | available · MIT text with additional attribution clause Root text includes an additional creator-credit clause; wiki terms not separately established and instructions remain incomplete. [S003] [S006] |
This profile selects the prototype mechanical/control architecture, not the unfinished RL work or a training dataset.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · adham-elarabawy / project contributors
Upstream project overview
Accessed 2026-10-01 · README.mdSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S002 · adham-elarabawy / project contributors
Repository revision and release metadata
Accessed 2026-10-01 · b0ab4fa599f94460828bf3aa4514240ae917ed38Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S003 · adham-elarabawy / project contributors
Repository license
Accessed 2026-10-01 · LICENSESource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S004 · adham-elarabawy / project contributors
Pinned repository artifact inventory
Accessed 2026-10-01 · b0ab4fa599f94460828bf3aa4514240ae917ed38 archive file inventorySource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S005 · adham-elarabawy / project contributors
Complete pinned artifact inventory
Accessed 2026-10-01 · Archive filenames, not proof of matching complete buildSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S006 · adham-elarabawy / project contributors
Printed-model instructions
Accessed 2026-10-01 · Pinned instructions marked in progressSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S007 · adham-elarabawy / project contributors
OpenQuadruped wiki: ROS-Node-Infrastructure.md
Accessed 2026-10-01 · 20f6941c759993043cb12e523e7c812b73880a92 / ROS-Node-Infrastructure.mdSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S008 · adham-elarabawy / project contributors
OpenQuadruped wiki: Wiring-Diagram.md
Accessed 2026-10-01 · 20f6941c759993043cb12e523e7c812b73880a92 / Wiring-Diagram.mdSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S009 · adham-elarabawy / project contributors
OpenQuadruped wiki: Networking-Setup.md
Accessed 2026-10-01 · 20f6941c759993043cb12e523e7c812b73880a92 / Networking-Setup.mdSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S010 · adham-elarabawy / project contributors
Bundled SpotMicro mesh attribution
Accessed 2026-10-01 · File-specific simulation mesh licenseSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
- S011 · adham-elarabawy / project contributors
Linked BOM retrieval result
Accessed 2026-10-01 · Connected Drive returned 404; accessibility gap, not proof of deletionSource notes
Source text inspected for the cited scoped claims; see profile claim notes.
Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1