Event
Cubic Doggo Open-Source Quadruped Robot Released and Completes Load-Bearing Endurance Test
3 reports · 1 sources
Author /u/SphericalCowww released the open-source quadruped robot Cubic Doggo 07B Wouf: it is built with 12 ST3215 smart servos, off-the-shelf parts, and 3D-printed components, is controlled by a Raspberry Pi running ROS2 Jazzy, can walk untethered, and supports gamepad control. The author states that the robot can walk under a 1 kg payload, and its standing-posture battery life has reached 4 hours; all FreeCAD models are open for editing; the turning gait has not yet been optimized, and future work will address read latency, add an IMU, and optimize the gait. Previously, the author showed Wouf staggering a few steps while carrying 1 kg (about half its own weight) of cargo, when the turning gait code had not yet been fixed; the author says the ST-3215-C018 servos are not fast. In the latest Halloween-themed test, Wouf carried a pumpkin payload of about 600 g, and battery life in walking mode was about 110 minutes; the author says the ST3215's energy efficiency exceeded expectations. The build code has been released on GitHub.
Developments
- Cubic Doggo test: Wouf's Halloween endurance test · 1 reports
- Cubic Doggo 07B Wouf Open-Source Low-Cost Quadruped Robot Released · 1 reports
- Cubic Doggo update: Wouf walks while carrying a 1 kg payload · 1 reports
Report timeline
- Cubic Doggo test: Wouf's Halloween endurance test
The Cubic Doggo quadruped robot completed a Halloween-themed endurance test carrying a pumpkin payload of about 600 g, with roughly 110 minutes of battery life in walking mode. The tester said the ST3215's energy efficiency exceeded expectations; the test plan came from a suggestion by a Reddit user, and the project code is hosted on GitHub.
Reddit r/robotics ·
- Cubic Doggo 07B Wouf Open-Source Low-Cost Quadruped Robot Released
The author has released the open-source quadruped robot Cubic Doggo 07B Wouf, which uses 12 ST3215 smart servos, off-the-shelf parts, and 3D-printed components, is controlled by a Raspberry Pi running ROS2 Jazzy, can walk without a cable, and supports gamepad control. The robot can walk under a 1 kg payload, and its standing-posture battery life has reached 4 hours; all FreeCAD models are open for editing. The author says the turning gait has not yet been optimized, and plans to address read latency, add an IMU, and optimize the gait later.
Reddit r/robotics ·
- Cubic Doggo update: Wouf walks while carrying a 1 kg payload
Wouf, the quadruped robot in the Cubic Doggo project, managed to stagger a few steps while carrying a 1 kg load (about half its own weight), even though the steering gait code had not been fixed. Its ST-3215-C018 servos are not fast, and the author is excited about the result of this payload test and is considering having it carry the SO-ARM101, which also uses 12 servos. The build code has been released on GitHub.
Reddit r/robotics ·