Auto-assembled, not yet reviewed

Dagor Biped

FDM-printable 6-DoF biped remixing the ODRI Bolt with Dagor brushless actuators.

Dormant. No upstream changes for two years or more. It may still build, but parts, firmware and docs may have drifted.

Last push to elggem/dagor_biped_hardware: 2021-06-13 (GitHub, checked 2026-10-01).

Repository activity

Reproducibility73/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
Dagor Biped source parts laid out side by side, 3D render from _body_structure.stl (not the assembled robot)
Parts preview: not the assembled robot · _body_structure.stl

About Dagor Biped

A 6-DoF bipedal robot (two 3-DoF legs) that remixes the Open Dynamic Robot Initiative (ODRI) Bolt for cheaper, easier assembly on entry-level FDM printers. It swaps to printable HTD belt pulleys, a 1:8 gear ratio, Sunnysky 5010 360kV motors (the README's modification list says 4004) and the open Dagor brushless motor controller. Actuator bodies print without supports in PLA or ASA, with one SLA-printed motor pulley and a strength-tuned center transmission pulley. The 3D view shows only the body, hip and upper-leg parts, not the assembled biped. The repo was last updated in 2021 and its BOM is marked preliminary.

Licenses

Hardware
BSD-3-Clause
Software
BSD-3-Clause
Docs
Not published

Degrees of freedom

6 DoF legs 6

Breakdown source

Bipedsource

How to build Dagor Biped

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Print the actuator and structural parts

    FDM-print module bodies/covers without supports in PLA/ASA; SLA-print the small motor pulley; print the center transmission pulley at 0.08mm with cooling tuned for layer adhesion.

    Motari summarydagor.dev

  2. Prepare the motor shafts

    Remove the M2.5 lockscrew, separate the outer case from the stator, glue the output shaft back with Loctite 648, screw an M2.5 standoff into the shaft with Loctite 648, wait at least 24 hours, then press-fit the printed motor pulley and insert the encoder magnet.

    Upstream stepgithub.com/elggem/dagor_biped_hardware/blob/8f33ea88d7480b50...

  3. Assemble the actuator modules

    Heat-set 8 inserts per module, fit the motor, tension the HTD belts over transmission and output pulleys, press in 6705/MR105 bearings.

    Motari summarydagor.dev

  4. Wire and mount the Dagor boards

    Solder programming and XT60 power leads, screw a Dagor board onto each module with M2.5 bolts, then close the cover and lock the belt tensioner bolt.

    Motari summarydagor.dev

  5. Flash firmware and test

    Check that each actuator runs smoothly, then flash the Dagor firmware and begin testing. The repo includes STL files for a printable stand but publishes no biped-level assembly steps, and the lower-leg and foot parts listed in the BOM are not in the repo.

    Motari summarydagor.dev
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

Dagor Biped bill of materials

10 rows

Cost to build

The sources do not publish a cost total. The rows below are what they list, without a sum.

Dagor Biped parts, as the source lists them. Prices are the source's, not checked against vendors.

Dagor Biped bill of materials
PartQtySpecSourceConfidence
Printed biped structure setREADME BOM lists these parts, but the repo has no files for the lower leg, foot and mirrored hip parts; only hip, upper leg, body, pulleys and a stand are present
1Hip bodies/covers, upper/lower leg structures, feet, and body structure
3D print yourselfprice not listedDagor README.md lines 109-118 at commit 8f33ea8
med
Printed actuator pulley setGrouped from README rows 119-121. Pulley source files are present, but no vendor price is listed.
1Motor, transmission, and output pulleys, six each
3D print yourselfprice not listedDagor README.md lines 119-121 at commit 8f33ea8
high
HTD 3M timing belt setREADME BOM lists 3 of each belt, but the assembly steps fit one 50 tooth and one 67 tooth belt in each of the 6 modules; check before ordering
1150 mm / 50 tooth / 4 mm belts x3 and 201 mm / 67 tooth / 6 mm belts x3
vendor not namedprice not listedDagor README.md lines 127-128 at commit 8f33ea8
high
6705 thin-section bearingsREADME mechanical component row lists quantity 12.
12Bearing 6705, 25x32x4 mm
vendor not namedprice not listedDagor README.md line 129 at commit 8f33ea8
high
MR105 bearingsREADME mechanical component row lists quantity 18.
18Bearing MR105, 5x10x4 mm
vendor not namedprice not listedDagor README.md line 130 at commit 8f33ea8
high
M2.5 fastener and standoff setGrouped from README rows 131-134. Listed here as one hardware set.
1Threaded inserts x48, M2.5 x10 screws x48, M2.5 x20 screws x16, 10 mm distance bolts x6
vendor not namedprice not listedDagor README.md lines 131-134 at commit 8f33ea8
high
Motor encoder magnetsREADME mechanical component row lists quantity 6.
6Motor encoder magnet
vendor not namedprice not listedDagor README.md line 135 at commit 8f33ea8
high
Dagor controller electronics setGrouped from README electrical component rows 141-142. Firmware/board fabrication costs are not priced in the source rows.
1Dagor board x6 and u.fl IPEX antenna x6
Dagor board from the project's BOM / antennaprice not listedDagor README.md lines 141-142 at commit 8f33ea8
high
Sunnysky 5010 360kV motorsREADME electrical component row lists quantity 6 but no vendor URL or current price.
6Sunnysky 5010 360kV motor
Sunnysky motor from the project's BOMprice not listedDagor README.md line 143 at commit 8f33ea8
high
XT60 male connectorsREADME electrical component row lists quantity 6.
6XT60 male connector
vendor not namedprice not listedDagor README.md line 144 at commit 8f33ea8
high

Rows from the source's own parts list 26

README.md@8f33ea8markdown

Source rowQtyPrice and vendorLine
hip_normal_body
2
vendor not listedno price listed
L109
hip_normal_cover
2
vendor not listedno price listed
L110
hip_mirrored_body
2
vendor not listedno price listed
L111
hip_mirrored_cover
2
vendor not listedno price listed
L112
upper_leg_structure_base
2
vendor not listedno price listed
L113
upper_leg_structure_cover
2
vendor not listedno price listed
L114
upper_leg_structure_output_shaft
2
vendor not listedno price listed
L115
lower_leg_structure
2
vendor not listedno price listed
L116

18 more rows in README.md

Dagor Biped source files

7 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

Dagor Biped in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

No URDF, MJCF, SDF, USD or Onshape model has been found in the sources.

The 3D specimen on this page is converted from mechanics/biped_6dof_v1/stl_files/_body_structure.stl at 8f33ea8, with the parts laid out side by side because the source has no assembly.

Builds of Dagor Biped

0 reviewed

No reviewed builds of Dagor Biped yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to elggem/dagor_biped_hardware: 2021-06-13 (checked 2026-10-01)

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: source BOM 8f33ea8; total unverified.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain Dagor Biped? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 73/100

Markdown
[![Motari reproducibility score for Dagor Biped](https://motari.io/api/v1/badge/dagor-biped)](https://motari.io/r/dagor-biped)
HTML
<a href="https://motari.io/r/dagor-biped"><img src="https://motari.io/api/v1/badge/dagor-biped" alt="Motari reproducibility score for Dagor Biped" height="20"></a>

Not fully met yet: bom evidence (partial), wiring diagram (partial). The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed