How to build OpenQuadruped (Adham Elarabawy)
12-DoF four-legged robot dog · Intermediate
Adham Elarabawy's OpenQuadruped is a 3D-printed 12-DoF dog with Bezier-curve gaits, 6-axis body pose, a Teensy 4.0 board and a ROS/Gazebo workspace.
Some soldering, calibration and Linux comfort needed.
Our estimate, part-time
No cost is published (the BOM sheet is offline)
MIT + attribution clause (non-standard)
What is OpenQuadruped (Adham Elarabawy)?
OpenQuadruped is a 3D-printed, 12-servo dog from Adham Elarabawy. It's known for its gait generator, which shapes each foot path with Bezier curves, and its full 6-axis body-pose control.
The author wrote up the leg inverse kinematics, including the joint offsets, in a separate paper.
The repo has STEP and STL files, Gerbers for a custom 12-servo board, a Teensy library and a ROS workspace. The external BOM sheet is no longer reachable, so the servo model isn't confirmed.
OpenQuadruped (Adham Elarabawy) specifications
- DoF
- 12
- MCU
- Teensy 4.0
- Foot sensors
- 4 analog (A6–A9)
- Sim
- Gazebo / RViz URDF
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Hobby servo | 12 | Exact model not published |
| Custom servo/sensor PCB | 1 | Gerber_MainPCB.zip |
| Teensy 4.0 | 1 | |
| Foot contact sensor | 4 | |
| Printed body and left/right leg sets | — |
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
- Soldering iron
- PlatformIO
- ROS PC
Step-by-step build overview
Electronics & wiring overview
The custom PCB breaks out 12 servo channels and 4 foot-sensor inputs to the Teensy 4.0.
Software
A C++ Teensy library for IK and gaits, plus a ROS workspace with URDF.
Tips from the bench
- ☕ The license is MIT with an added attribution clause, so read it before reusing anything.
OpenQuadruped (Adham Elarabawy) FAQ
What makes its gait special?
Foot trajectories are 12-DoF Bezier curves, which are easy to tune.
Sources
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
Related builds
Robot deals
All deals →
Get dealDeal · Everblog
10% off
ShopShop · CircuitMess
DIY robot kits
Robot and gadget kits you build yourself.
ShopShop · GRABO
Cordless vacuum lifter
GRABO Pro Brushless: the original cordless vacuum lifter for pavers, stone, glass and panels.
Like what we do? Buying through these links supports Bots n' Beans. We earn a commission at no extra cost to you. Thank you!