Auto-assembled, not yet reviewed

Stanford Doggo

Agile brushless quadruped that set a vertical-jump agility record (ICRA 2019).

Deprecated. Upstream points builders at a newer design.

Successor: Stanford Pupper v3 (source)Lifecycle source

Reproducibility55/100Early source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
No 3D model yet
No ready source-derived model
The repository publishes no 3D model files; the design CAD is an Autodesk Fusion document linked from the README.
No 3D model generated yet

About Stanford Doggo

Stanford Doggo is an open-source ~5 kg quadruped from Stanford Student Robotics, built around four coaxial 2-DoF five-bar legs driven by eight T-Motor brushless motors and four ODrive v3.5 controllers. It set the record for vertical jumping agility among legged robots and can trot, jump and backflip. The project (ICRA 2019, arXiv 1905.04254) publishes Fusion 360 CAD, custom ODrive firmware, and Teensy control code. It is now end-of-life, superseded by the Stanford Pupper v3, but remains a widely cited reference design for low-cost dynamic legged robots.

Licenses

Hardware
MIT
Software
MIT
Docs
Not published

Degrees of freedom

8 DoF legs 8

Breakdown source

Quadrupedsource

How to build Stanford Doggo

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. Source and fabricate parts

    Download the Fusion 360 CAD, then waterjet the carbon-fiber side panels, aluminum frame, and leg links (Big Blue Saw used in the original), and 3D-print the bearing blocks and SLS pulleys.

    Motari summaryarxiv.org/abs/1905.04254

  2. Build the coaxial legs

    Assemble each 2-DoF five-bar leg: mount two T-Motor MN5212 motors, route 3 mm-pitch GT2 belts over 16T/48T pulleys, and tension with the waterjet bracket. Mold silicone feet from the printed 2-part mold.

    Motari summaryarxiv.org/abs/1905.04254

  3. Flash and configure ODrives

    Flash the custom ODrive firmware to the four v3.5 controllers and configure each with doggo_setup.py; update the gear_ratio if your mechanics differ.

    Motari summaryarxiv.org/abs/1905.04254

  4. Wire electronics

    Mount four ODrives on the CF panels, wire the Teensy 3.5 to each over UART at 500 kbaud, add the BNO080 IMU, XBee, PDB, and the Gigavac estop relay per the wiring schematic.

    Upstream stepgithub.com/Nate711/StanfordDoggoProject/blob/ce5716b5941739a...

  5. Calibrate and run gaits

    Upload the Doggo Teensy code. At power-on, hold the top links horizontal while the motors run a calibration routine, then send single-letter serial commands over the XBee link, for example trot, jump, hop or flip (flip needs a working IMU).

    Motari summaryarxiv.org/abs/1905.04254
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.

Stanford Doggo bill of materials

8 rows

Cost to build

$2,971.02USDsource total
  • work-in-progress full-robot BOM: motors, ODrives, electronics, waterjet and CNC parts, 3D printed parts, fasteners; optional tools unpriced$2,971.02source 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.

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

Stanford Doggo bill of materials
PartQtySpecSourceConfidence
T-Motor MN5212 brushless motorOutrunner, coaxial leg drive
8Two per leg, 16T-to-48T GT2 belt reduction
T-Motorprice not listedREADME.md lines 61-62
med
ODrive v3.5 motor controllerREADME says 48V v3.5 ODrives; the BOM sheet orders the 24V version
4Dual-axis FOC controller, v3.5
ODrive Roboticsprice not listedREADME.md lines 93-94
med
Teensy 3.5 microcontrollerCentral state-machine controller
1120 MHz Cortex-M4, 4x UART to ODrives
PJRCprice not listedREADME.md lines 93-94
high
AS5047P magnetic encoderIncremental interface used
8AS5047 magnetic encoder (README: AS5047P; BOM sheet: AS5047D)
AMS / genericprice not listedREADME.md line 96
med
SparkFun BNO080 IMUBody orientation sensing
19-DoF AHRS
SparkFunprice not listedREADME.md lines 93-94
med
XBee moduleWireless command link (README: 5 mW; BOM sheet: 2 mW wire antenna)
1XBee radio
Digiprice not listedREADME.md lines 93-94
med
Tattu 6S 1000 mAh LiPo batteryTwo onboard packs powering the robot
26S, 1000 mAh
Tattuprice not listedREADME.md lines 93-94
med
Waterjet carbon-fiber side panels + aluminum frame4mm CF panels, 5052 aluminum sheet
1Custom waterjet from CAD DXF
Big Blue Saw / self-sourceprice not listedREADME.md lines 87-89
low

Rows from the source's own parts list 5

README.md@ce5716bmarkdown

Source rowQtyPrice and vendorLine
work-in-progress BOM link
Google Sheetsno price listed
L32
T-Motor MN5212 motors and GT2 belt drive
two motors per leg
TMotorno price listed
L61
waterjet carbon-fiber side panels and 5052 aluminum frame
two carbon fiber panels per side; two aluminum sheet parts
waterjet / self-sourceno price listed
L87
ODrives, Teensy, BNO080, XBee, batteries
4 ODrives; 1 Teensy; 1 IMU; 1 XBee; 2 batteries
ODrive / PJRC / SparkFun / Digi / Tattuno price listed
L93
AS5047P magnetic encoders
one per motor
AMSno price listed
L96

Stanford Doggo source files

2 files

Files stay in the upstream repository under their own licenses; these links open them there.

Stanford Doggo 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.

No 3D model has been generated from the project's files yet.

Builds of Stanford Doggo

0 reviewed

No reviewed builds of Stanford Doggo 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 Nate711/StanfordDoggoProject: 2024-07-08 (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: README ce5716b source component list parsed.

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 Stanford Doggo? 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 Stanford Doggo](https://motari.io/api/v1/badge/stanford-doggo)](https://motari.io/r/stanford-doggo)
HTML
<a href="https://motari.io/r/stanford-doggo"><img src="https://motari.io/api/v1/badge/stanford-doggo" alt="Motari reproducibility score for Stanford Doggo" height="20"></a>

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