Stanford Pupper

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

Overview

The original servo-driven Stanford Pupper, a Raspberry Pi quadruped whose upstream support has ended in favor of a separate v3 design. [S001] [S005] [S006] [S007] [S008] [S009]

This profile covers the original Pupper associated with StanfordQuadruped and its legacy build guide. The repository now carries an end-of-life notice and points to the separate Pupper v3 effort. Its v3 brushless motors, Raspberry Pi 5 and learned locomotion claims must not be applied to the original servo-driven build. [S001]

Official website · Source code

Specifications

Detail	Description
Type	Original Pupper v1 servo-driven quadruped Reported by source [S001] [S005] [S006] [S007] [S008] [S009] · Checked 2026-09-30
Intended users	Legged robotics learners; Builders maintaining original Pupper hardware Editorial assessment [S001] · Checked 2026-09-30
Assembly	Printed mounts, routed carbon-fiber structure, heat-set inserts and soldered power-distribution board. Reported by source [S001] [S005] [S006] [S007] [S008] [S009] · Checked 2026-09-30
Calibration	Support robot off the ground; calibrate each of 12 servos to documented joint-center horizontal/vertical references. Reported by source [S001] [S005] [S006] [S007] [S008] [S009] · Checked 2026-09-30
Operating system	Not known
Computer needed	Separate desktop/laptop, microSD reader and Ethernet connection for image preparation and SSH setup Reported by source [S001] [S005] [S006] [S007] [S008] [S009] · Checked 2026-09-30

Assembly and use

What the original build requires

The captured BOM specifies 12 JX CLS6336 servos and a Raspberry Pi 4. Printed mounts are only part of the structure: the robot also uses routed carbon-fiber plates and links, bearings, heat-set inserts and a custom power-distribution board. The PCB tab identifies a particular Gerber branch and specifies 2 oz copper. The fabrication choices and supplier-specific servo-horn assembly note need to stay with the selected parts. [S005] [S009]

The workbook includes separate hardware, electronics, tools and fabrication tabs, as well as an explicitly unreleased Hardware V2 tab. Its historical headline total is $892.58, excluding tools, tax and shipping; the tools tab separately totals $157.07 and includes a charger and soldering iron. Individual and bulk purchasing estimates are separate. These figures are upstream spreadsheet estimates, with no current region-specific stock, shipping or tax check; mixing the unreleased tab or a newer kit into the original list would change the configuration. [S009]

Installation precedes geometric calibration

The original guide starts with a Raspberry Pi 4 and a named 2019 Raspbian Buster Lite image, then adds separate setup files and the StanfordQuadruped controller. PS4 pairing, networking and service startup are part of the documented workflow. A current operating-system substitution has not been tested here. [S006]

Calibration then aligns each of the 12 servo-driven joints with known horizontal or vertical references while the legs are supported off the ground. The guide specifically uses joint centers as the alignment reference and says unreachable positions can indicate incorrectly fitted servo arms. This is additional work after mechanical assembly, not something a source archive verifies. [S007]

For this original design, the operation guide specifies 2S LiPo power and warns against exceeding 8.4 V. The source-researched profile records that configuration constraint without claiming an electrical or gait test. The controller repository has an MIT license; external CAD, board and component rights still need separate reconciliation. With upstream support ended, a support offer would also require our own verified installation and repair procedure. [S001] [S003] [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 Linked CAD/STL and fabrication routes described; full external CAD set and asset licenses not preserved/reconciled. [S005] [S009]
electronics	available · License not fully assessed BOM explicitly identifies xt60cable Gerbers and KiCad repository; exact board license and full purchased-component scope unresolved. [S009]
firmware	not found · License not fully assessed Complete purchased servo firmware not established. [S004] [S009]
software	available · MIT Controller repository only; external setup and joystick dependencies have separate sources. [S003]
documentation	available · License not fully assessed Legacy documentation snapshots preserved. [S005] [S006] [S007] [S008]

Original PWM-controller route, not the separate v3 learned locomotion platform.

References

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

S001 · stanfordroboticsclub / 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 · stanfordroboticsclub / project contributors
Repository revision and release metadata
Accessed 2026-09-30 · dc0c5e2089cf2c0aac3c59982a4f140c31803175
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S003 · stanfordroboticsclub / project contributors
Repository license
Accessed 2026-09-30 · LICENSE
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S004 · stanfordroboticsclub / project contributors
Pinned repository artifact inventory
Accessed 2026-09-30 · dc0c5e2089cf2c0aac3c59982a4f140c31803175 archive file inventory
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S005 · stanfordroboticsclub / project contributors
Original Pupper assembly
Accessed 2026-09-30 · Read the Docs revision 9c556d02
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S006 · stanfordroboticsclub / project contributors
Original Pupper software_installation
Accessed 2026-09-30 · Read the Docs revision 9c556d02
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S007 · stanfordroboticsclub / project contributors
Original Pupper calibration
Accessed 2026-09-30 · Read the Docs revision 9c556d02
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S008 · stanfordroboticsclub / project contributors
Original Pupper operation
Accessed 2026-09-30 · Read the Docs revision 9c556d02
Source notes
Source text inspected for the cited scoped claims; see profile claim notes.
S009 · stanfordroboticsclub / project contributors
Pupper BOM workbook
Accessed 2026-09-30 · Overview, Electronics, PCB, 3D Printed Parts and Carbon Fiber Routed Parts tabs; row numbers included
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: dc0c5e2089cf · Activity recorded 2024-07-03 [S002]

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

Change history

September 29, 2026 — First research profile published.