OpenQuadruped (Adham Elarabawy)

OpenQuadruped is an open-source, 3D-printed 12-DoF quadruped by Adham Elarabawy, with three servo joints per leg. It features intuitive Bezier-curve gait generation, full 6-axis body-pose manipulation, and a custom 3-DoF leg inverse-kinematics model that accounts for joint offsets, documented in the author's IK paper. The repo ships STEP and STL CAD for the robot, gerbers for a custom 12-servo control PCB, a Teensy C++ firmware library, and a ROS workspace with a Gazebo/RViz URDF. The upstream README points to an external BOM sheet that is currently unavailable, so Motari lists only source-derived partial hardware rows for the 12 servos, custom PCB, and grouped printed parts rather than a complete costed shopping list.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A primary assembly 3D asset is available from ros-workspace/src/open_quadruped/urdf/spot.urdf.
• Source-backed bill-of-materials evidence is linked with per-part provenance where available. Prices marked estimated are not yet verified against a vendor.
• A transparent reproducibility score so buildability is a sortable, first-class property.
• Cross-links to the source repo, datasets, models, and forks.

Source

Canonical source: adham-elarabawy/open-quadruped. Original files stay intact and separately licensed under MIT; Motari adds a separate, adjacent metadata layer.