Auto-assembled, not yet reviewed

Mini Pupper (MangDang)

12-DoF Raspberry Pi quadruped robot dog from MangDang, with a published BOM, CAD and assembly guide.

A newer version of this design exists.

Successor: Mini Pupper 2 (source)

  • No hardware license stated
  • robot dog12 DoF
  • $755.71source total
Reproducibility55/100Early source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
Mini Pupper (MangDang) 12-DoF robot dog, 3D render from Design.rst
main assembly 3D · Design.rst

About Mini Pupper (MangDang)

Mini Pupper is a compact 12-DoF quadruped robot dog from MangDang, derived from the Stanford Pupper (StanfordQuadruped) controller. The README documents Raspberry Pi support, 12 servos controlled through a PCA9685, custom Mini Pupper servos and an HMI LCD. The MiniPupperDocs site publishes the BOM spreadsheet, Fusion 360 model, STL folder, servo specification, PCB schematics and datasheets, and the assembly guide. The 3D view comes from the STEP assembly linked from the docs (hosted on Google Drive). MangDang has since released Mini Pupper 2 with different hardware.

Licenses

Hardware
No hardware license statedMIT covers the QuadrupedRobot software repository; the CAD on Google Drive and the design docs state no license
Software
MIT
Docs
Not published

Degrees of freedom

12 DoF legs 12

Breakdown source

Quadrupedsource

How to build Mini Pupper (MangDang)

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 and assemble the frame

    Print the body, hip, shell and foot parts from the Mini Pupper STL package, which use metal threaded inserts; the plates, leg segments and link rods are carbon fibre. Assemble the four legs, attach them to the hips and build the body frame per the assembly guide.

    Motari summaryminipupperdocs.readthedocs.io/en/latest/guide/Assembly/MiniP...

  2. Mount 12 servos and the PCA9685

    Install three Mini Pupper servos per leg and wire them all to the PCA9685 16-channel PWM driver on the carry board.

    Motari summaryminipupperdocs.readthedocs.io/en/latest/guide/Assembly/MiniP...

  3. Fit the Raspberry Pi and LCD

    Plug the LCD and the 12 servo cables into the custom carry board, which integrates the IMU, fit the battery pack and plug in its cable, then install the fan and the Raspberry Pi 4. Power is switched with the battery button.

    Motari summaryminipupperdocs.readthedocs.io/en/latest/guide/Assembly/MiniP...

  4. Flash the software stack

    Boot the Ubuntu 22.04 arm64 image, clone QuadrupedRobot, and run Legacy/pre_install.sh and install.sh, then reboot.

    Upstream stepgithub.com/mangdangroboticsclub/QuadrupedRobot/blob/db0de63f...

  5. Calibrate and drive

    Calibrate the servo zero positions, enable the restart_joy service, and drive the robot from a PS4 joystick or ROS.

    Motari summaryminipupperdocs.readthedocs.io/en/latest/guide/Assembly/MiniP...
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.

Mini Pupper (MangDang) bill of materials

13 rows

Cost to build

$755.71USDsource total

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

Mini Pupper (MangDang) parts, as the source lists them. Prices are the source's, not checked against vendors.

Mini Pupper (MangDang) bill of materials
PartQtySpecSourceConfidence
Customized Mini Pupper servosBOM unit price is $9.60, 12 required.
12Custom servo; BOM recommends 1-3 spares.
MangDang$115.20 line totalBOM CSV lines 5-6; README lines 92-104
high
Customized PCBA with fan
1Custom PCBA including fan; carries servo/LCD/battery connections.
MangDang$30.00BOM CSV line 7; PCB docs lines 11-12; assembly lines 564-580
high
LCD display and LCD display board
1LCD display plus display board with speaker for the face/HMI.
MangDang$16.00 listed for LCD display; board price not listedBOM CSV lines 8-9; README lines 106-107; assembly lines 531-568
med
Custom metal servo horns
8Leg_Arm_Lower and Leg_Arm_Upper custom metal servo horns.
MangDang$12.00 line totalBOM CSV lines 10-11
high
Carbon fiber body and leg parts
1Bottom/top plates, upper/lower legs, short rods, and rocker arms.
MangDang / make yourself$20 listed for bottom plate; other lines not pricedBOM CSV lines 12-18; assembly lines 341-460
med
Bearing, linkage, standoff, and insert hardware
1Ball ends, threaded rods, thrust bearings, axle bearings, flanged bearings, standoffs, and threaded inserts.
hardware suppliers$131.82 for the grouped rowsBOM CSV lines 19-28
high
M2/M3 screw and locknut hardware
1Button-head screws, M2 locknuts, self-tapping screws, and M1.4 screws.
hardware suppliers$74.15 for the grouped rowsBOM CSV lines 29-39; assembly lines 145-160 and 669-697
high
3D printed basic body package
1Body front/middle/back, four hip parts, shell display cover, and printable STL source folder.
3D print yourself / 3D print service$64.04 for the grouped rowsBOM CSV lines 41-53; MiniPupperDocs Design line 28
med
Custom battery
11000mAh 5C 7.4V Li-Polymer battery.
vendor not named$30.00 unit cost listed; no line totalBOM CSV line 51; assembly lines 50-57 and 492-508
med
3D print shell package
1Front shell, hip shells, upper leg shells, side shells, and four feet.
3D print yourself / 3D print service$148.64 for the grouped rowsBOM CSV lines 54-61; assembly lines 646-723
med
Controller
1PS4-style wireless controller listed in the complete kit section.
retail$53.21BOM CSV line 63
high
Raspberry Pi 4B/2GB
12GB DDR Raspberry Pi 4 controller board.
Raspberry Pi / retail$100.00BOM CSV line 64; README lines 45-48; assembly lines 635-642
high
SD card
1microSD card for Mini Pupper controller image.
retail$10.99BOM CSV line 65; README lines 3-6; assembly lines 62-87
high

Rows from the source's own parts list 19

docs/reference/Design.rst@cba017drst_csv

Source rowQtyPrice and vendorLine
Official Mini Pupper BOM spreadsheet link and total
docs.google.com$755.71
L17
Official STL folder and servo-specification links
drive.google.comno price listed
L26
Official Fusion 360 CAD model link
a360.cono price listed
L6
BOM CSV MangDang custom parts rows
12 servos; 1 PCBA; 1 LCD; 8 servo horns
vendor not listed$173.20 grouped parsed rows
L17
BOM CSV carbon fiber body and leg rows
vendor not listedno price listed
L17
BOM CSV hardware and fastener rows
vendor not listed$205.97 grouped parsed rows
L17
BOM CSV 3D printed basic package and battery rows
vendor not listed$94.04 grouped parsed rows
L17
BOM CSV shell package rows
vendor not listed$148.64 grouped parsed rows
L17

1 more rows in docs/reference/Design.rst

README.md@db0de63markdown

Source rowQtyPrice and vendorLine
README servo, 12-DOF, and PCA9685 evidence
12 DOF / 12 servos
MangDangno price listed
L92
README build links and rough self-source estimate
vendor not listedabout $800
L120

docs/reference/PCB.rst@cba017drst

Source rowQtyPrice and vendorLine
Mini Pupper custom PCB schematic/datasheet link
drive.google.comno price listed
L8

docs/guide/Assembly/MiniPupper.rst@cba017drst

Source rowQtyPrice and vendorLine
Mini Pupper body/hip revision notes
vendor not listedno price listed
L25
Mini Pupper battery charging notes
vendor not listedno price listed
L50
Mini Pupper leg fastener list
vendor not listedno price listed
L145
Mini Pupper LCD and custom circuit-board assembly
vendor not listedno price listed
L457
Mini Pupper carry-board servo/battery wiring
vendor not listedno price listed
L575
Mini Pupper fan and Raspberry Pi 4 installation
vendor not listedno price listed
L623
Mini Pupper optional lidar/camera add-ons
vendor not listedno price listed
L729

Mini Pupper (MangDang) source files

4 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.

Mini Pupper (MangDang) 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 docs/reference/Design.rst at cba017d.

Builds of Mini Pupper (MangDang)

0 reviewed

No reviewed builds of Mini Pupper (MangDang) 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 mangdangroboticsclub/QuadrupedRobot: 2026-04-20 (checked 2026-10-01)

Related links

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 CSV + MiniPupperDocs cba017d.

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 Mini Pupper (MangDang)? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 55/100

Markdown
[![Motari reproducibility score for Mini Pupper (MangDang)](https://motari.io/api/v1/badge/mini-pupper)](https://motari.io/r/mini-pupper)
HTML
<a href="https://motari.io/r/mini-pupper"><img src="https://motari.io/api/v1/badge/mini-pupper" alt="Motari reproducibility score for Mini Pupper (MangDang)" height="20"></a>

Not fully met yet: bom evidence (partial), wiring diagram, oshw-compatible license. 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