How to build Mini Pupper (MangDang)
12-DoF four-legged robot dog · Intermediate
Build the original Mini Pupper: a 12-DoF Raspberry Pi robot dog with custom servos, carbon-fiber plates and a published BOM totalling about $756.
Some soldering, calibration and Linux comfort needed.
Our estimate, part-time
$755.71 total from MangDang's BOM spreadsheet
Apache-2.0 (software; CAD unlicensed)
What is Mini Pupper (MangDang)?
The first Mini Pupper scaled the Stanford Pupper controller down to a desk-sized dog. It has twelve MangDang custom servos driven through a PCA9685 on a custom board, with a Raspberry Pi in charge.
MangDang's docs publish the BOM spreadsheet, a Fusion 360 model, STLs, PCB schematics, a servo spec and an assembly guide, so you can build it from parts.
It has since been replaced by Mini Pupper 2, which uses different hardware.
Mini Pupper (MangDang) specifications
- DoF
- 12
- Controller
- Raspberry Pi + PCA9685
- Servos
- MangDang custom ($9.60 each)
- Frame
- Carbon fiber plates and legs
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Custom Mini Pupper servo | 12 | Buy 1–3 spares |
| Custom PCBA with fan | 1 | |
| LCD and display board | 1 | |
| Custom metal servo horns | 8 | |
| Carbon fiber body and leg parts | 1 set | |
| Bearings, linkages, standoffs, screws | — | See the BOM CSV |
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 $755 as a ballpark from the project. Start at the project repository.
Tools you'll need
- Hex drivers
- Small pliers
- A PC to flash the Pi
Step-by-step build overview
Electronics & wiring overview
Servos plug into the custom PCBA, whose PCA9685 the Pi drives over I²C.
Software
The project ships its own firmware and control code. See the repository for setup.
mangdangroboticsclub/QuadrupedRobot (Apache-2.0), derived from StanfordQuadruped.
Tips from the bench
- ☕ The CAD on Google Drive has no license, so ask before you redistribute it.
Mini Pupper (MangDang) FAQ
How much does Mini Pupper cost to build?
The published BOM comes to about $756.
Is it discontinued?
It has been succeeded by Mini Pupper 2.
Sources
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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