# Cubic Doggo Update: Wouf Takes Its First Steps

- Source: Reddit r/robotics
- Published: 2026-10-25T09:35:43.000Z
- RoboHot: https://robohot.news/en/items/oh2hes5wafhfmfypecjggub72
- Original: https://www.reddit.com/r/robotics/comments/1xey15u/cubic_doggo_update_woufs_first_steps/

## Summary

Wouf, the quadruped robot in the open-source Cubic Doggo project, has completed its first walk. The author traced the earlier low-speed problem to latency in reading position, speed, and torque from the ST3215 servos (about 3–5 ms per read across three servos) and has now disabled feedback reading on Wouf. After switching to the ST3215, Wouf's walking speed exceeded expectations, but the turning algorithm still has issues. The author believes the approach can be used for walking robots, and whether feedback reading (an input required for reinforcement learning) can be restored depends on how difficult it is to develop synchronized-read firmware.