Claimed by maintainer

Solo-12

Open torque-controlled quadruped from the ODRI initiative.

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

Last push to open-dynamic-robot-initiative/robot_properties_solo: 2023-03-22 (GitHub, checked 2026-10-01).

Repository activity

  • BSD-3-Clause
  • robot dog12 DoF
  • cost not published
Reproducibility80/100Strong source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
Solo-12 open-source 12-DoF robot dog, 3D render from solo12.urdf.xacro
main assembly 3D · solo12.urdf.xacro

About Solo-12

An open, torque-controlled Solo-family quadruped from the Open Dynamic Robot Initiative (ODRI). The 3D view comes from the robot_properties_solo description; the actuator, electronics, wiring and body build documentation lives in the separate ODRI hardware repository.

Licenses

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

Degrees of freedom

12 DoF legs 12

Breakdown source

Quadrupedsource

How to build Solo-12

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions.

  1. Assemble the actuator modules

    Build the 12 actuator modules (3 per leg) from the actuator module BOM: brushless motor, one optical encoder with codewheel, 9:1 dual-stage timing belt transmission, machined motor shaft and pulleys, and 3D printed pulleys and shells.

    Motari summaryarxiv.org/abs/1910.00093

  2. Fabricate the boards

    Order the six MicroDriver boards and the Master Board assembled, solder the remaining resistors and connectors, then flash the MicroDrivers with a JTAG emulator and the Master Board with ESP-IDF.

    Motari summaryarxiv.org/abs/1910.00093

  3. Print the legs and body

    Print the leg shells and body structure (SLS or FDM) and the pulleys and codewheel mounts (SLA or Multijet), install Helicoil inserts, and glue a strip of bicycle tire to each printed lower leg foot.

    Motari summaryarxiv.org/abs/1910.00093

  4. Wire the SPI bus

    Connect each of the six MicroDriver boards to its own SPI connector on the Master Board, then route the motor phase, encoder, power and SPI wires as shown on the Solo12 wiring page.

    Motari summaryarxiv.org/abs/1910.00093

  5. Bring up and calibrate

    Align the legs with the 3D printed calibration tools and save each joint's offset from its encoder index, then run the robot through the Master Board SDK.

    Motari summaryarxiv.org/abs/1910.00093
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.

Solo-12 bill of materials

7 rows

Cost to build

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

Solo-12 parts, as the source lists them (read 2026-06-06). Prices are the source's, not checked against vendors.

Solo-12 bill of materials
PartQtySpecSourceConfidence
3DOF leg modulefour identical Solo-12 leg modules
43 active degrees of freedom per leg
self-build / ODRI docsprice not listedODRI hardware README describes the robot as a body module plus four identical 3DOF legs
high
Master Board v2central controller/electronics board
1custom electronics; Ethernet/control hub
make yourself / ODRI master-boardprice not listedODRI hardware BOM lists one Master Board v2 and links master-board docs
high
Micro Driver Board v2motor driver stacks for the quadruped
6custom micro driver electronics
make yourself / ODRI micro driverprice not listedODRI hardware BOM lists six Micro Driver Board v2 units
high
Lord Microstrain 3DM-CX5-25 IMUinertial measurement unit
1extended measurement range; +/-900 deg/s gyro, +/-20G accelerometer
Lord Microstrainprice not listedODRI hardware README lists the 3DM-CX5-25 IMU and measurement range
high
3D-printed body structure setbody plates, supports, covers, spacers
1printed body module parts from hardware README STL links
3D print yourself / service printprice not listedODRI hardware BOM itemizes body structure printed parts and STL links
high
Bearings, fasteners, helicoils, Vicon markersoff-the-shelf hardware for assembly and tracking
1Hip AA bearings, stainless fasteners, thread inserts, markers
listed vendors / genericnot totaled in source BOMODRI hardware BOM lists bearings, fasteners, helicoils, and Vicon markers with ordering links
high
URDF/STL visual assembly assetsrendered catalog primary assembly
1solo12 xacro plus 9 unique STL visual meshes
source repositorysource assets includedThe 3D model uses 11 files from robot_properties_solo at commit 2201f45
high

Rows from the source's own parts list 7

mechanics/quadruped_robot_12dof_v1/README.md@66af152markdown

Source rowQtyPrice and vendorLine
3DOF Leg
4
github.comno price listed
L197
Master Board v2
1
github.comno price listed
L198
Micro Driver Board v2
6
github.comno price listed
L199
Inertia Measurement Unit
1
microstrain.comgithub.comno price listed
L200
Body structure printed parts
1 set
github.comno price listed
L201
Bearings, fasteners, helicoils, Vicon markers
assorted
github.comno price listed
L214

src/robot_properties_solo/resources/xacro/solo12.urdf.xacro@2201f45xacro

Source rowQtyPrice and vendorLine
Solo-12 primary assembly xacro
1
github.comsource assets included
L14

Solo-12 source files

12 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.

Solo-12 in 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 src/robot_properties_solo/resources/xacro/solo12.urdf.xacro at 2201f45.

Builds of Solo-12

0 reviewed

No reviewed builds of Solo-12 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 the maintainer before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to open-dynamic-robot-initiative/robot_properties_solo: 2023-03-22 (checked 2026-10-01)

Related links

How this page was made

First assembled from public sources on 2026-05-12 and now claimed by a GitHub contributor of the project. Each figure links to where it is stated; a value the sources do not state reads "not published". The fields were read from public sources and have not been re-checked against the live repository.

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 Solo-12? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 80/100

Markdown
[![Motari reproducibility score for Solo-12](https://motari.io/api/v1/badge/solo-12)](https://motari.io/r/solo-12)
HTML
<a href="https://motari.io/r/solo-12"><img src="https://motari.io/api/v1/badge/solo-12" alt="Motari reproducibility score for Solo-12" height="20"></a>

Not fully met yet: bom evidence (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