Skip to content
ShopCommunitySign in
Advanced build

How to build Stanford Doggo

8-DoF four-legged robot dog · Advanced

Stanford Doggo is a 5 kg, 8-DoF quadruped with coaxial five-bar legs, T-Motor MN5212 motors and ODrive v3.5. BOM is about $2,971. Now end-of-life.

Start the buildProject files
Difficulty
Advanced

Many actuators, custom wiring and real tuning work.

Build time
1–3 months

Our estimate, part-time

Parts cost
$2,971

$2,971 total from the project BOM sheet

Degrees of freedom
8

MIT

What is Stanford Doggo?

Stanford Student Robotics built Doggo, a roughly 5 kg quadruped that set a record for vertical jumping agility among legged robots. It can trot, jump and even backflip.

Each leg is a coaxial two-DoF five-bar linkage driven by two T-Motor MN5212 motors through a 16T:48T GT2 belt. Four ODrive v3.5 boards drive the motors, and a Teensy 3.5 coordinates them.

Fusion 360 CAD, custom ODrive firmware and Teensy code are published (ICRA 2019). The project is end-of-life and superseded by Pupper v3.

Stanford Doggo specifications

Mass
≈5 kg
DoF
8 (2 per leg)
Motors
T-Motor MN5212
Drivers
4× ODrive v3.5 (48 V)
MCU
Teensy 3.5
IMU
BNO080

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
T-Motor MN52128
ODrive v3.54
AS5047P encoder8
Teensy 3.51
BNO080 IMU and XBee radio1 each
Tattu 6S 1000 mAh LiPo2
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 $2,971 as a ballpark from the project. Start at the project repository.

Tools you'll need

  • Waterjet or CNC service
  • Soldering iron
  • ODrive tool
  • Arduino/Teensyduino

Step-by-step build overview

Electronics & wiring overview

The Teensy talks to four ODrives over four UARTs. The BNO080 is on I²C, and the XBee provides the wireless link.

LiPo batterypower sourceLaptop / PChigh-level controlIMU + encoderssensingTeensy microcontrollerreal-time controllerODrive motor controll…drivers / busbrushless motors8 joints / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

The project ships its own firmware and control code. See the repository for setup.

Custom ODrive firmware plus Teensy control code (MIT).

Tips from the bench

  • ☕ Doggo is end-of-life, so check Pupper v3 before starting a new build.

Stanford Doggo FAQ

How much does Doggo cost?

About $2,971 per the BOM.

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 →
  • Everblog AI fridge calendar

    Deal · Everblog

    10% off

    Get deal
  • CircuitMess DIY robot kits

    Shop · CircuitMess

    DIY robot kits

    Robot and gadget kits you build yourself.

    Shop
  • GRABO Cordless vacuum lifter

    Shop · GRABO

    Cordless vacuum lifter

    GRABO Pro Brushless: the original cordless vacuum lifter for pavers, stone, glass and panels.

    Shop

Like what we do? Buying through these links supports Bots n' Beans. We earn a commission at no extra cost to you. Thank you!