Stanford Doggo

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

Overview

A historical eight-actuator quadruped using coaxial leg mechanisms, Teensy control and customized ODrive firmware. [S001]

Doggo is an eight-actuator quadruped with four two-axis legs, coaxial shafts and belt-driven mechanisms. We preserved parent release 1.0 and the exact Doggo and ODrive commits referenced by that release. The current project README carries an end-of-life notice, so the archived release should be treated as a historical research starting point. [S001] [S002] [S005] [S006] [S009]

Official website · Source code

Specifications

Detail	Description
Type	Quadruped with four two-degree-of-freedom legs Reported by source [S001] [S005] [S007] [S009] · Checked 2026-09-30
Intended users	Legged robotics researchers; Experienced mechanical and embedded-system builders Editorial assessment [S001] · Checked 2026-09-30
Assembly	Waterjet/routed structure, printed pulleys and fittings, coaxial shafts and molded silicone feet. Reported by source [S001] [S005] [S007] [S009] · Checked 2026-09-30
Calibration	Release overview describes a startup leg calibration routine before idle mode; not reproduced. Reported by source [S001] [S005] [S007] [S009] · Checked 2026-09-30
Operating system	Not known
Computer needed	Not known

Assembly and use

The fabrication pack needs reconciliation

The release's FullCAD file is an Autodesk link, not the CAD assembly itself. Its BOM also links a contributor collection by Sean Kirmani; we preserved that collection, including fabrication files. These are separate sources, and their exact correspondence to the release has not been established. [S004] [S007] [S008]

The mechanical work spans waterjet or routed structural parts, coaxial shafts, printed components and molded silicone feet. Upstream's design notes describe pulley-print orientation and the tradeoff between belt tension and friction. That makes dimensional fitting and assembly practice relevant to reproduction, beyond whether a STEP or STL file downloads successfully. [S001]

There are purchasing mismatches to resolve. The release README describes 48 V ODrive hardware and a Gigavac relay, while the captured BOM lists 24 V ODrives and a solid-state relay replacement. It also uses a different encoder designation. Do not combine those references into a presumed matched electrical configuration. The workbook's historical prices and approximate fabrication quotes do not establish a current complete delivered cost. [S001] [S007]

Read the selected firmware's behavior list

The release-pinned Teensy README identifies trot as its working forward gait, labels bound unstable, and lists walk and pronk as nonworking. Those specific limitations qualify the broader movement descriptions in the parent overview. They also show why preserving the matching firmware matters when choosing a demonstration to reproduce. No gait or startup calibration was tested here. [S001] [S005]

The parent project has an MIT notice, but the separate firmware repositories, nested libraries and externally hosted CAD need their own license and revision reconciliation. A build or support offer remains dependent on a chosen electrical configuration, complete fabrication sources, resolved dependencies and measured setup and repair work. [S003] [S004] [S005] [S006] [S008]

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 · License not fully assessed Contributor parts collection preserved; full Autodesk assembly and exact release matching unresolved. Root MIT notices do not settle all external CAD provenance. [S004] [S007] [S008]
electronics	available · License not fully assessed Wiring illustration and BOM available; this is not complete purchased-board manufacturing source. [S001] [S004] [S007]
firmware	available · License not fully assessed Exact Doggo and ODrive gitlinks preserved; nested libraries and file-level licenses not fully reconciled. [S005] [S006]
software	available · MIT Parent repository notice; does not automatically cover separate firmware repositories or external CAD. [S003] [S004]
documentation	available · MIT Parent documentation; separately hosted BOM rights not inferred. [S001] [S003]

Reviewed historical control route selects no learned policy or dataset.

References

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

S001 · Nate711 / 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 · Nate711 / project contributors
Repository revision and release metadata
Accessed 2026-09-30 · b38b8e007da95f56637339e99ad2ab37e806097b
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S003 · Nate711 / project contributors
Repository license
Accessed 2026-09-30 · LICENSE
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S004 · Nate711 / project contributors
Pinned repository artifact inventory
Accessed 2026-09-30 · b38b8e007da95f56637339e99ad2ab37e806097b archive file inventory
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S005 · Nate711 / project contributors
Release-pinned Doggo
Accessed 2026-09-30 · Exact release 1.0 submodule gitlink
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S006 · Nate711 / project contributors
Release-pinned ODrive
Accessed 2026-09-30 · Exact release 1.0 submodule gitlink
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S007 · Nate711 / project contributors
Doggo BOM workbook
Accessed 2026-09-30 · BOM and Custom Fabricated Parts tabs; row numbers included
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S008 · Nate711 / project contributors
BOM-linked contributor fabrication collection
Accessed 2026-09-30 · Sean Kirmani parts collection linked in BOM; distinct repository
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S009 · Nate711 / project contributors
Current project end-of-life notice
Accessed 2026-09-30 · Current README, distinct from preserved release 1.0
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: b38b8e007da9 · Activity recorded 2019-05-25 [S002]

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

Change history

September 29, 2026 — First research profile published.