# Petoi founder converts Quaddle quadruped robot to walk on two legs

- Source: Reddit r/humanoidrobotics
- Published: 2026-10-17T19:01:27.000Z
- RoboHot: https://robohot.news/en/items/pje2lnr2bk1qgi1wp2nyknw76
- Original: https://www.reddit.com/r/humanoidrobotics/comments/1x8i9y7/robot_dog_biped_walking_on_two_legs_with_a/

## Summary

RZ Li, founder of Petoi and creator of the open-source OpenCat quadruped framework (started in 2016), modified the Quaddle with a 3D-printed base and adjusted its gait so it walks on two legs, without changing the robot body or software. The author asks developers of small bipedal robots whether gait is tuned manually or first trained in simulation.