Mini Pupper 2 12-DoF robot dog, 3D render from mini_pupper_description.urdf.xacro, the project's simulation model

Mini Pupper 2

MangDang's 12-DoF Raspberry Pi CM4 robot dog kit with serial bus servos and an ESP32-S3 board; open software, no published frame CAD or BOM.

Start the build

What it is

Mini Pupper 2 is MangDang's second palm-sized robot dog, launched in 2022 as the successor to Mini Pupper. MangDang's spec table gives it a Raspberry Pi CM4, serial bus servos with position feedback, an ESP32-S3 microcontroller, an IMU, touch sensors, a microphone and speaker, a 320x240 screen and a 1000 mAh battery, in a 209 x 109 x 145 mm, 465 g body. It is sold as a kit with pre-assembled legs (604 USD) or fully pre-assembled (649 USD). The open parts are software: the mini_pupper_2_bsp board support package (ESP32 firmware for the twelve servos, Python hardware interface, calibration) and the mini_pupper_ros packages, including a Mini Pupper 2 URDF, under Apache-2.0 apart from one GPL module in the BSP. MangDang also shares printable shell, foot and accessory STLs on Google Drive, but publishes no frame CAD, PCB design files or parts list for Mini Pupper 2, and no hardware license; the docs' BOM and Fusion 360 links are for the first Mini Pupper. The 3D view is the Mini Pupper 2 URDF from mini_pupper_ros, a simulation model.

Licenses

Hardware
No license file
Software
Apache-2.0
Docs
Not published

Degrees of freedom

12 DoF legs 12

Breakdown source

Quadrupedsource

Auto-assembled, not yet reviewed

Source record

Sources
14 stars, last push 2026-06-03
HW license
No license file
Cost
$604vendor kit, legs pre-assembled kit on the MangDang store
Lifecycle
Active
Engine
v3.1.1
Checked
Model
mini_pupper_description.urdf.xacro@c3ad28cthe project's simulation model in mangdangroboticsclub/mini_pupper_ros, not its build CADrendered 2026-10-02
Envelope
111 × 147 × 181 mmas in the simulation model, default pose

Maintain Mini Pupper 2? Claim this page to correct it.

Parts and cost

1 rows

Cost to build

$604USDvendor kit

In the source currency, as read on 2026-10-02. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

Mini Pupper 2 parts, as the source lists them. Prices are the source's, not checked against vendors.

Mini Pupper 2 bill of materials
PartQtySpecSourceConfidence
Mini Pupper 2, Legs Pre-assembled KitMangDang sells Mini Pupper 2 as a kit; no parts list for sourcing the robot piece by piece is published
1kit with pre-assembled legs (store variant L00); the store also sells a fully pre-assembled kit (F00) at $649.00
MangDang store$604.00 on the MangDang store, checked 2026-10-02MangDang store, Mini Pupper 2 product page
high

Rows from the source's own parts list 2

products/mp2html

Source rowQtyPrice and vendorLine
Mini Pupper 2, Legs Pre-assembled Kit
1
mangdang.store$604.00
L1
Mini Pupper 2, Pre-assembled Kit
1
mangdang.store$649.00
L1

How to build

7 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. Get the kit

    Mini Pupper 2 is sold by MangDang as a kit, with the legs pre-assembled or fully pre-assembled; the docs publish no Mini Pupper 2 parts list for sourcing it piece by piece. Printable shell, foot and accessory parts are on the docs' Google Drive.

    Motari summarymangdang.store/products/mp2

  2. Assemble the bottom plate

    Connect the 4 legs to the bottom plate using the M2 x 5 mm screws.

    Upstream stepgithub.com/mangdangroboticsclub/MiniPupperDocs/blob/5eb9f863...

  3. Fit the top PCB

    Insert the four-legged connection wire into the top board and connect the LCD screen cable to the PCB board, paying attention to the direction. Pass the power line on the PCB board through the hole in the bottom plate, then fix the PCB board and bottom board using M2 x 5 mm screws.

    Upstream stepgithub.com/mangdangroboticsclub/MiniPupperDocs/blob/5eb9f863...

  4. Fit the covers

    Fit the side panels, then the shin guards with four M2x10 mm countersunk screws. For the shoulders, insert only the screws first, slide the shoulder parts into the gap, and tighten the screws with a 2 mm hex driver through the hole in each shoulder part. Put on the 4 shoes.

    Upstream stepgithub.com/mangdangroboticsclub/MiniPupperDocs/blob/5eb9f863...

  5. Install the software

    Flash the Ubuntu 22.04 preinstalled server image to the SD card, set your WiFi, update, then clone mini_pupper_2_bsp, run ./install.sh and reboot.

    Upstream stepgithub.com/mangdangroboticsclub/mini_pupper_2_bsp/blob/7f740...

  6. Calibrate

    Run the calibrate command installed by the BSP, then try the demos in its demos folder to confirm the installation.

    Upstream stepgithub.com/mangdangroboticsclub/mini_pupper_2_bsp/blob/7f740...

  7. Power on and drive

    Push the battery power button for at least 3 seconds to power on, put the controller into pairing mode (hold share and home until it double-flashes), wait for it to bind, and press L1 to activate the robot; R1 switches between rest and trot. The guide warns that powering the robot from an external supply above 8.4V will almost certainly fry all the servos.

    Upstream stepgithub.com/mangdangroboticsclub/MiniPupperDocs/blob/5eb9f863...
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.

How reproducible

How confidently this design builds into a working robot, from what its sources publish: each criterion's points, quality tier and evidence.

35/100Sparse source coverage, unverified

Engine v3.1.1 at 7f7401e, 1 item reviewed by hand

  • The engine found no license file for the hardware in the hardware source.
How this score is computed

Files and sim

8 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.

Simulation

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

The 3D specimen on this page is converted from mini_pupper_description/urdf/mini_pupper_2/mini_pupper_description.urdf.xacro at c3ad28c, the project's simulation model in mangdangroboticsclub/mini_pupper_ros, not its build CAD.

Builds

0 reviewed

No reviewed builds of Mini Pupper 2 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

Where the facts come from

Last push to mangdangroboticsclub/mini_pupper_2_bsp: 2026-06-03 (checked 2026-10-02)

How this page was made

Assembled from public sources on 2026-10-02, 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: 2026-10-02 mangdangroboticsclub/mini_pupper_2_bsp@7f7401e, mini_pupper_ros@c3ad28c, MiniPupperDocs@5eb9f86; MangDang store.

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

Badge: reproducibility 35/100

Markdown
[![Motari reproducibility score for Mini Pupper 2](https://motari.io/api/v1/badge/mini-pupper-2)](https://motari.io/r/mini-pupper-2)
HTML
<a href="https://motari.io/r/mini-pupper-2"><img src="https://motari.io/api/v1/badge/mini-pupper-2" alt="Motari reproducibility score for Mini Pupper 2" height="20"></a>

Not fully met yet: cad / mesh present (partial), bom evidence, 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