How to build Walko D0G3
12-DoF four-legged robot dog · Advanced
Walko D0G3 is the POPI team's 3D-printed quadruped: 12 motors with mjbots moteus r4.5 controllers on CAN, a pi3hat and a Raspberry Pi 4, estimated at €2,700.
Many actuators, custom wiring and real tuning work.
Our estimate, part-time
About €2,700 without the camera, per the team's estimate
Apache-2.0 (software; hardware unlicensed)
What is Walko D0G3?
Walko comes from the team behind POPI. They promised a fully 3D-printed quadruped made from parts bought online, estimated at €2,700 without the camera module.
The D0G3 design is published on GitLab as a SolidWorks assembly with exploded views. It runs twelve motors on mjbots moteus r4.5 controllers over CAN, three per leg, through a pi3hat on a Raspberry Pi 4.
The electronics BOM is in French, and the hardware has no license file. The software repo is Apache-2.0.
Walko D0G3 specifications
- DoF
- 12
- Controllers
- 12× mjbots moteus r4.5
- CAN
- mjbots pi3hat r4.3
- Compute
- Raspberry Pi 4 (4 GB)
- Battery
- 10S4P 12.8 Ah
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| mjbots moteus r4.5 | 12 | |
| mjbots pi3hat r4.3 | 1 | |
| mjbots power_dist r4.0 | 1 | |
| Raspberry Pi 4 (4 GB) | 1 | |
| 10S4P 12.8 Ah battery | 1 |
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 €2,700 as a ballpark from the project. Start at the project repository.
Tools you'll need
- FDM printer
- SolidWorks viewer
- Soldering iron
Step-by-step build overview
Electronics & wiring overview
Twelve moteus boards sit on CAN buses through the pi3hat, with power distributed from the 10S pack by the mjbots board.
Software
The project ships its own firmware and control code. See the repository for setup.
Walko-Robotics/doge_software (Apache-2.0).
Tips from the bench
- ☕ The hardware is unlicensed, so ask the team before sharing derivatives.
Walko D0G3 FAQ
What does Walko cost?
The team estimated €2,700 without the camera.
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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