No 3D model yet
No ready source-derived model
The D0G3 CAD is published only as native SolidWorks files (SLDASM and SLDPRT in a zip on GitLab), which the pipeline cannot read; no STEP, STL or URDF is published.
No 3D model generated yet

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

The GitLab mechanics repository was last updated on 2021-12-26, and its README still says more information is coming soon.

Lifecycle source

Walko D0G3

The POPI team's follow-up quadruped: 12 brushless joints on mjbots moteus controllers, SolidWorks CAD and a wiring diagram on GitLab; dormant since 2021.

Start the build

What it is

Walko is the follow-up to POPI from the same team: the POPI README announced a new quadruped, planned to be 100% 3D-printed with components bought online, at an estimated 2,700 EUR without the camera module, with a BOM and beginner-friendly instructions to follow. The design, D0G3, is published on GitLab: a native SolidWorks assembly (D0G3 5.0-2.4-3.0-2.0 RC, combining ACTIO v5.0, CORPS v2.4, PATTE v3.0 and TRIPLET v2.0) with exploded views, an electronics schematic showing twelve motors with moteus controllers on CAN, three per leg, an electronics BOM (12 mjbots moteus r4.5 controllers, a pi3hat, a power distribution board, a Raspberry Pi 4 and a 10S4P battery, totalling 1354.06 with no currency stated) and a fork of the mjbots quad software, also mirrored on GitHub. The mechanics and electronics READMEs say more information is coming soon; no build instructions or hardware license are published, and nothing has changed since December 2021. The CAD is SolidWorks only, so Motari shows no 3D 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

Source
HW license
No license file
Cost
€2,700estimate, whole quadruped without the camera module, a team estimate made before release (POPI README, 2021)
Lifecycle
Dormant
Engine
v3.1.1
Checked
Model
no 3D model yet

Maintain Walko D0G3? Claim this page to correct it.

Parts and cost

6 rows

Cost to build

€2,700EURestimate
  • whole quadruped without the camera module, a team estimate made before release (POPI README, 2021)€2,700estimate

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.

Walko D0G3 parts, as the source lists them. Prices are the source's, not checked against vendors.

Walko D0G3 bill of materials
PartQtySpecSourceConfidence
Controlleurs - MJBOTS moteus r4.5One brushless controller per joint
12mjbots moteus r4.5 brushless controller; 960 line total in the source sheet, currency not stated
mjbots80 each (currency not stated)walko-robotics/doge electronics repository, D0G3_BOM.xlsx
high
Cape CAN - MJBOTS pi3hat r4.3CAN interface board for the Raspberry Pi
1mjbots pi3hat r4.3
mjbots130 (currency not stated)walko-robotics/doge electronics repository, D0G3_BOM.xlsx
high
Carte Alim - MJBOTS power dist r4.0Power distribution board
1mjbots power_dist r4.0
mjbots120 (currency not stated)walko-robotics/doge electronics repository, D0G3_BOM.xlsx
high
Raspberry Pi 4b 4GbOnboard computer; the sheet's link points to the pi3hat page
1Raspberry Pi 4 Model B, 4 GB
listed with the pi3hat link50 (currency not stated)walko-robotics/doge electronics repository, D0G3_BOM.xlsx
high
Battery AERDU 10S4P 12.8AhMain battery
110S4P lithium pack, 12.8 Ah
AliExpress72 (currency not stated)walko-robotics/doge electronics repository, D0G3_BOM.xlsx
high
Fil élec 5m 10 couleursHook-up wire, 5 m in 10 colours
1electrical wire, 10 colours
AliExpress13.99 (currency not stated)walko-robotics/doge electronics repository, D0G3_BOM.xlsx
high

Rows from the source's own parts list 7

electronics/D0G3_BOM.xlsx (sheet Feuil1)xlsx

Source rowQtyPrice and vendorLine
Controlleurs - MJBOTS moteus r4.5
12
mjbots.com960 (currency not stated)
L2
Cape CAN - MJBOTS pi3hat r4.3
1
mjbots.com130 (currency not stated)
L3
Carte Alim - MJBOTS power dist r4.0
1
mjbots.com120 (currency not stated)
L4
Raspberry Pi 4b 4Gb
1
mjbots.com50 (currency not stated)
L5
Battery AERDU 10S4P 12.8Ah
1
fr.aliexpress.com72 (currency not stated)
L6
Fil élec 5m 10 couleurs
1
fr.aliexpress.com13.99 (currency not stated)
L7
electronics BOM total
vendor not listed1354.06 (currency not stated)
L8

How to build

No build steps have been recorded. The source repository is the place to look.

Print timenot published
Assembly timenot published

How reproducible

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

55/100Early source coverage, unverified
  • metCAD / mesh presentReviewedThe GitLab mechanics archive holds the native SolidWorks design: the top-level D0G3.SLDASM, the Actio_v5, Corps, Pattev3 and Triplet sub-assemblies and their SLDPRT parts. The engine does not read GitLab.20/20

    Quality tier 3 of 3

    Reviewed override, 2026-10-02

    Evidence on gitlab.com

    Engine alone: partial at tier 1 (hardware files on gitlab.com, not inspected by the engine)

  • partialBOM evidenceBOM on gitlab.com, not inspected by the engine10/20

    Quality tier 1 of 5

  • metWiring diagramReviewedThe GitLab electronics repository's wiring diagram PDF draws all twelve motors with their moteus controllers, the CAN and power runs, the pi3hat, power board, Raspberry Pi and battery. The engine does not read GitLab.15/15

    Quality tier 2 of 3

    Reviewed override, 2026-10-02

    Evidence on gitlab.com

    Engine alone: missing at tier 0 (no wiring diagram found)

  • metFirmware linkedcontrol software linked (software source Walko-Robotics/doge_software)10/10

    Quality tier 2 of 3

  • missingBuild instructionsno build instructions found0/15

    Quality tier 0 of 3

    The engine found nothing to point at for this item.

  • missingOSHW-compatible licenseReviewedThe Apache-2.0 statement the engine read is the mjbots quad README carried in the software fork. The D0G3 mechanics and electronics repositories on GitLab state no license.0/10

    Quality tier 0 of 2

    Reviewed override, 2026-10-02

    Evidence on gitlab.com

    Engine alone: met at tier 2 (Apache-2.0 (from README license statement))

  • missingKnown reproductionsno verified builds yet0/10

    Quality tier 0 of 2

    Only build reports a maintainer or admin has reviewed count here.

Engine v3.1.1 at 0bba8f5, 3 items reviewed by hand

  • The engine found no joint model or stated figure to count degrees of freedom from.
How this score is computed

Files and sim

6 files

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

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

0 reviewed

No reviewed builds of Walko D0G3 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

Related links

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 gitlab.com/walko-robotics/doge mechanics@4772abf, electronics@0beac11; Walko-Robotics/doge_software@0bba8f5.

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 Walko D0G3? 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 Walko D0G3](https://motari.io/api/v1/badge/walko)](https://motari.io/r/walko)
HTML
<a href="https://motari.io/r/walko"><img src="https://motari.io/api/v1/badge/walko" alt="Motari reproducibility score for Walko D0G3" height="20"></a>

Not fully met yet: bom evidence (partial), build instructions, 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