Solo

Based on published sources · Not tested by us · Sources checked 2026-09-30

Overview

A modular torque-controlled quadruped family; this review distinguishes wired Solo12 from its battery-and-wireless upgrade. [S001]

The shared Open Dynamic Robot Initiative hardware archive contains Solo8, Solo12 and other robots. This profile focuses on the documented Solo12 configuration: four three-axis legs, a Master Board and six Micro Driver boards. Its v1 design receives power and Ethernet through a connection wire. The separately documented v1.1 upgrade adds batteries and wireless operation; those capabilities should not be assumed for a wired v1 build. [S001] [S005] [S010]

Official website · Source code

Specifications

Detail	Description
Type	Solo12 wired quadruped, with separately documented autonomy upgrade Reported by source [S005] [S006] [S007] [S008] [S009] [S011] [S013] · Checked 2026-09-30
Intended users	Legged robotics laboratories; Builders with precision assembly and embedded-control experience Editorial assessment [S001] · Checked 2026-09-30
Assembly	Prepare precision actuator cores and printed shells, assemble selected leg/body modules, wire custom electronics, then calibrate. Reported by source [S005] [S006] [S007] [S008] [S009] [S011] [S013] · Checked 2026-09-30
Calibration	Measure per-joint index-to-zero offsets with printed fixtures; roughly align legs at startup; repeat offset measurement after actuator repair or replacement. Reported by source [S005] [S006] [S007] [S008] [S009] [S011] [S013] · Checked 2026-09-30
Operating system	Not known
Computer needed	External real-time control computer; master-board SDK requires a direct Ethernet interface or compatible raw-wireless interface Reported by source [S005] [S006] [S007] [S008] [S009] [S011] [S013] · Checked 2026-09-30

Assembly and use

The upgrade changes more than the power source

The v1.1 notes add two battery packs, revised body components, switches, an LED ring and a custom power-management board. They explicitly caution against using the LiPo packs without that board. We preserved the separate power-board repository, but its README still leaves the command-packet section unimplemented and the sensor-packet section unfinished. That is a documentation and integration gap, not a tested judgment about every function in its code. [S010] [S014]

The original robot itself requires precision actuator preparation. The v1.1 actuator-core option replaces several machining and shaft-preparation steps with a supplier encoder kit; the documentation describes it as functionally interchangeable with the earlier prepared shaft assembly. Current kit availability and total delivered cost remain unverified. Drilling, tapping, thread inserts, wiring and assembly still need their own tools and labor. [S007] [S008]

Calibration returns after repairs

Joint angles are initially unknown at power-on. The documented routine begins with rough manual alignment, finds encoder index positions and applies saved offsets. Printed calibration fixtures establish those offsets, and the documentation requires measuring them again if an actuator is repaired, replaced or modified. Include the fixtures and calibration procedure in a maintenance plan. [S006]

We also preserved Master Board release v1.0.7. Its SDK requires a dedicated direct Ethernet interface; its wireless route needs monitor mode and packet injection. Its flashing guide has an explicit legacy ESP-IDF compatibility constraint. These requirements make the control computer and programming tools part of the build, alongside the printed robot. [S011] [S012] [S013]

The hardware archive uses BSD-3-Clause terms; the separate Master Board and Power Board repositories use BSD-2-Clause. A complete matched controller stack, component quotations, assembly and support workload remain unverified. No hardware or firmware was operated for this profile. [S003] [S011] [S014]

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 · BSD-3-Clause Hardware repository scope; separately hosted boards and purchased components retain their own terms. [S003] [S005] [S009]
electronics	available · BSD-3-Clause Hardware repository scope; separately hosted boards and purchased components retain their own terms. [S003] [S005] [S009]
firmware	available · BSD-2-Clause Master Board repository only; not a complete robot control/dependency pack. [S011] [S012] [S013]
software	available · BSD-2-Clause Master Board repository only; not a complete robot control/dependency pack. [S011] [S012] [S013]
documentation	available · BSD-3-Clause Hardware repository scope; separately hosted boards and purchased components retain their own terms. [S003] [S005] [S009]

No particular learned controller or dataset selected in this hardware review.

References

Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.

S001 · open-dynamic-robot-initiative / project contributors
Upstream project overview
Accessed 2026-09-30 · README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S002 · open-dynamic-robot-initiative / project contributors
Repository revision and release metadata
Accessed 2026-09-30 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S003 · open-dynamic-robot-initiative / project contributors
Repository license
Accessed 2026-09-30 · LICENSE
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S004 · open-dynamic-robot-initiative / project contributors
Pinned repository artifact inventory
Accessed 2026-09-30 · 66af1522b4fba0ec4a1d7790e66f5e4652208d30 archive file inventory
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S009 · open-dynamic-robot-initiative / project contributors
electronics/micro_driver_electronics/README.md
Accessed 2026-09-30 · electronics/micro_driver_electronics/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S007 · open-dynamic-robot-initiative / project contributors
mechanics/actuator_module_v1/actuator_module_v1.1.md
Accessed 2026-09-30 · mechanics/actuator_module_v1/actuator_module_v1.1.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S008 · open-dynamic-robot-initiative / project contributors
mechanics/actuator_module_v1/details/details_tools.md
Accessed 2026-09-30 · mechanics/actuator_module_v1/details/details_tools.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S006 · open-dynamic-robot-initiative / project contributors
mechanics/general/robot_calibration.md
Accessed 2026-09-30 · mechanics/general/robot_calibration.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S010 · open-dynamic-robot-initiative / project contributors
mechanics/quadruped_robot_12dof_v1.1/README.md
Accessed 2026-09-30 · mechanics/quadruped_robot_12dof_v1.1/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S005 · open-dynamic-robot-initiative / project contributors
mechanics/quadruped_robot_12dof_v1/README.md
Accessed 2026-09-30 · mechanics/quadruped_robot_12dof_v1/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S011 · open-dynamic-robot-initiative / project contributors
Master Board release and license
Accessed 2026-09-30 · README and LICENSE at ab2c7173e9d57a99ef8bf2fca430fa376c6cc4b4
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S012 · open-dynamic-robot-initiative / project contributors
firmware/README.md
Accessed 2026-09-30 · firmware/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S013 · open-dynamic-robot-initiative / project contributors
sdk/master_board_sdk/README.md
Accessed 2026-09-30 · sdk/master_board_sdk/README.md
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S014 · open-dynamic-robot-initiative / project contributors
Power Board snapshot and license
Accessed 2026-09-30 · README and LICENSE at 188c26444a6aa3ce55af9b184f02978b80549365
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.

Research and review details

Source research only; no installation, physical build or performance test performed. No affiliate links added.

Profile edited 2026-09-30 · Sources checked 2026-09-30 · Next review target 2026-10-30

Combined hardware and software repository revision: 66af1522b4fb · Activity recorded 2022-09-06 [S002]

Correction guidance · Discussion is not enabled · Profile format 0.5.0-draft.1

Change history

September 29, 2026 — First research profile published.