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Expert build

How to build Solo-12

12-DoF four-legged robot dog · Expert

Solo-12 is the Open Dynamic Robot Initiative's 12-DoF torque-controlled quadruped, built from four 3-DoF leg modules, a master board, micro-drivers and an IMU.

Start the buildProject files
Difficulty
Expert

Research-grade: machining, motor drivers and control theory.

Build time
3+ months (lab-grade)

Our estimate, part-time

Parts cost
Not published

No total is published

Degrees of freedom
12

BSD-3-Clause

What is Solo-12?

Solo-12 is the twelve-joint member of ODRI's Solo family. It uses four identical 3-DoF leg modules built from ODRI's open belt-drive actuators, and every joint is torque-controllable.

Six micro-driver boards connect to a master board that streams to a PC, and a Lord Microstrain IMU handles body sensing.

Build docs for the actuators, electronics, wiring and body are in the ODRI hardware repo, under BSD-3-Clause. The URDF is in robot_properties_solo.

Solo-12 specifications

DoF
12 (3 per leg)
Drivers
6× Micro Driver v2
Controller
Master Board v2
IMU
Lord 3DM-CX5-25

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
3-DoF leg module4
Master Board v21
Micro Driver Board v26
Lord Microstrain 3DM-CX5-251
Printed body plates and covers—
Bearings, fasteners, helicoils—
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

  • Machining service
  • FDM printer
  • Soldering iron
  • Linux real-time PC

Step-by-step build overview

Electronics & wiring overview

Micro-drivers connect to the master board over SPI, and the master board connects to the host over Ethernet or Wi-Fi.

Battery packpower sourceLaptop / PChigh-level controlIMU + encoderssensingMicrocontrollerreal-time controllerODrive motor controll…drivers / busbrushless motors12 joints / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

URDF model

ODRI master-board SDK and robot_properties_solo descriptions.

Tips from the bench

  • ☕ Check the encoder index on every joint before closing the torque loop.

Solo-12 FAQ

How does Solo-12 differ from Solo-8?

It adds hip abduction, giving each leg three joints.

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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