How to build Dagor Biped
6-DoF bipedal walker · Advanced
Dagor Biped is a 6-DoF printable remix of the ODRI Bolt biped using belt-reduced Sunnysky motors and the open Dagor brushless controller.
Many actuators, custom wiring and real tuning work.
Our estimate, part-time
Price the BOM yourself
BSD-3-Clause
What is Dagor Biped?
Dagor Biped is Ralf Mayet's remix of the Open Dynamic Robot Initiative's Bolt, a small two-legged research robot. The aim was to make Bolt cheaper and easier to build on an entry-level FDM printer.
To get there it swaps Bolt's drivetrain for printable HTD 3M belt pulleys at an 8:1 reduction, uses Sunnysky 5010 360 kV motors, and pairs each motor with the open-source Dagor controller, a tiny board that combines a brushless driver, encoder and wireless link.
The repo was last touched in 2021 and its BOM is marked preliminary, so expect to fill some gaps yourself.
Dagor Biped specifications
- DoF
- 6 (two 3-DoF legs)
- Motors
- Sunnysky 5010 360 kV
- Reduction
- 8:1 HTD 3M belts
- Controller
- Dagor brushless controller per motor
- PLA or ASA, one SLA pulley
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Sunnysky 5010 360 kV BLDC motor | 6 | |
| Dagor brushless controller | 6 | |
| HTD 3M belts (150 mm and 200 mm) | 3 each | |
| 6705 thin-section bearings | 12 | |
| MR105 bearings | 18 | |
| Encoder magnets | 6 | |
| Printed hips, legs and pulleys; M2.5 inserts and screws | — |
Where's the full bill of materials?
The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat Not published as a ballpark. Start at the project repository.
Tools you'll need
- FDM printer
- Access to an SLA printer
- Soldering iron
- Hex keys
Step-by-step build overview
Electronics & wiring overview
Each actuator has its own Dagor board, which handles motor drive, encoder reading and wireless communication, so cabling is mostly power.
Software
The project ships its own firmware and control code. See the repository for setup.
Firmware lives in the Dagor-Brushless-Controller repo. High-level control can borrow from ODRI's Bolt software stack.
Tips from the bench
- ☕ The BOM is preliminary; check part counts against the CAD before ordering.
- ☕ Belt tension matters more than usual with printed pulleys.
Dagor Biped FAQ
How is Dagor Biped different from ODRI Bolt?
It uses printable belt pulleys, cheaper motors and Dagor controllers so the robot can be built on a hobby printer.
Is there a published cost?
No total is published.
Sources
- Biped hardware: elggem/dagor_biped_hardware
- Dagor controller: elggem/Dagor-Brushless-Controller
- ODRI hardware: open-dynamic-robot-initiative/open_robot_actuator_hardware
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
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