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Quadrupeds

Robots that walk on four legs. 40 robots on Robotheca, each with its licenses and its source on GitHub.

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Ready to build: a score of 80 or more, a license and a finished design.

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Where the project was published, known for 29 of 270 robots. Never guessed.

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Guides machine-translated into English by Robotheca, with a link to the original on each robot page.

37 of 270 robots state a cost. Costs in other currencies are compared using the ECB reference rate of 14 Oct 2026. Robots without a known cost are hidden unless you include them.

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40 robots of 270

Page 1 of 2 · Ready to build first, then by buildability

  • Quadruped

    Hexapod-ROS

    An open-source hexapod robot platform based on ROS2, featuring real-time gait control and laser navigation.

    • Work in progress
    Level
    Advanced
    Buildability
    75/100
    Buildable with some effort
    Cost
    Not stated
  • Quadruped

    Open Quadruped

    An open-source 3D-printed quadrupedal robot that performs gait generation with Bezier curves and full 6-axis body pose control.

    Level
    Advanced
    Buildability
    70/100
    Buildable with some effort
    Cost
    Not stated
  • Quadruped

    POPI

    POPI is an open-source quadruped robot designed as a student project, meant to be accessible for education and research and rebuildable by anyone.

    Level
    Advanced
    Buildability
    70/100
    Buildable with some effort
    Cost
    Not stated
  • Quadruped

    Spot Micro - Leika

    An open-source ESP32-based quadruped robot with a web-based controller and a MuJoCo simulator.

    Level
    Advanced
    Buildability
    70/100
    Buildable with some effort
    Cost
    Not stated
  • Quadruped

    Quadruped Bai Servo v1

    A low-cost 12-DOF quadruped robot actuated by hobby servos, with optional feet sensors and a trot gait firmware.

    Level
    Intermediate
    Buildability
    65/100
    Buildable with some effort
    Cost
    Not stated
  • Quadruped

    Sesame Robot

    An open and affordable ESP32-based mini quadruped robot with an OLED face that walks, waves and dances.

    Level
    Beginner
    Buildability
    65/100
    Buildable with some effort
    Cost
    Not stated
  • Photo on GitHub
    Quadruped

    HighTorque-MiniDog

    An open-source desktop quadruped robot featuring high-torque HTDW4438 motors, URDF models, and real-machine SDK for development and Sim2Real integration.

    • No license
    Level
    Intermediate
    Buildability
    60/100
    Buildable with some effort
    Cost
    Not stated
  • Quadruped

    4T-POM-X4

    An open-source 12-degree-of-freedom quadruped robot designed for learning, development, and secondary innovation.

    Level
    Intermediate
    Buildability
    55/100
    Buildable with some effort
    Cost
    Not stated
  • Quadruped

    SpotMicro ESP32

    A 3D-printable quadruped robot dog with support-free printed parts, controlled by an ESP32-DevKitC with heavy computation offloaded to external devices.

    Level
    Advanced
    Buildability
    55/100
    Buildable with some effort
    Cost
    Not stated
  • No photo yet
    Quadruped

    Yertle

    A 3D printed quadrupedal robot with 4 limbs of 3 degrees of freedom each, built for locomotion research and reinforcement-learned walking.

    • Works with AI
    Level
    Advanced
    Buildability
    55/100
    Buildable with some effort
    Cost
    £250≈ €296 (ECB rate, 14 Oct 2026)
  • Quadruped

    MindPaw

    A desktop quadruped robot based on ESP8266 with voice control, gesture recognition, web remote, and AI conversation.

    • Works with AI
    Level
    Intermediate
    Buildability
    50/100
    Buildable with some effort
    Cost
    ¥50≈ €7 (ECB rate, 14 Oct 2026)
  • No photo yet
    Quadruped

    Hexapod Robot

    A six-legged robot powered by a Raspberry Pi Pico, featuring 18 digital servos, IMU auto-leveling, and multiple control inputs.

    • Work in progress
    Level
    Intermediate
    Buildability
    49/100
    Incomplete documentation
    Cost
    Not stated
  • Quadruped

    Hyun

    A wheeled-legged robot controlled by an ESP32, featuring an MPU6050 gyroscope, PM3510 brushless motors, and SimpleFOC drivers.

    Level
    Intermediate
    Buildability
    45/100
    Incomplete documentation
    Cost
    Not stated
  • No photo yet
    Quadruped

    openDog

    An open-source quadruped dog robot built episode by episode, with CAD files and Arduino code.

    Level
    Advanced
    Buildability
    45/100
    Incomplete documentation
    Cost
    Not stated
  • Photo on GitHub
    Quadruped

    Spider Robot

    A six-legged robot controlled by a Raspberry Pi with remote control and vision capabilities.

    • No license
    Level
    Intermediate
    Buildability
    45/100
    Incomplete documentation
    Cost
    Not stated
  • No photo yet
    Quadruped

    Spot Micro Quadruped Robot

    A beginner-friendly open-source quadruped robot with 3D-printable parts and ROS-based control software.

    Level
    Beginner
    Buildability
    45/100
    Incomplete documentation
    Cost
    Not stated
  • Quadruped

    12-DOF Quadruped Robot

    A 12-DOF quadruped robot driven by servos, featuring open-loop gait control and IMU stabilization.

    Level
    Intermediate
    Buildability
    40/100
    Incomplete documentation
    Cost
    Not stated
  • Quadruped

    Hexapod Robot

    A six-legged walking robot with inverse kinematics control and a PC-based interface for movement and posture adjustments.

    Level
    Intermediate
    Buildability
    40/100
    Incomplete documentation
    Cost
    Not stated
  • Quadruped

    Mini Pupper

    An open-source, ROS-based quadruped robot dog designed for education and research, supporting SLAM, navigation, and OpenCV AI features.

    • Works with AI
    Level
    Intermediate
    Buildability
    40/100
    Incomplete documentation
    Cost
    $500≈ €447 (ECB rate, 14 Oct 2026)
  • Photo on GitHub
    Quadruped

    NodeHexa

    An open-source ESP32-based six-legged robot with Web control, calibration, performance motions, motion sequences and optional voice interaction.

    • Works with AI
    • No license
    Level
    Intermediate
    Buildability
    40/100
    Incomplete documentation
    Cost
    Not stated
  • No photo yet
    Quadruped

    openDog V3

    A quadruped robot dog built from 3D-printed PLA parts, driven by ODrive-controlled motors with AS5047 absolute encoders and a remote-controlled walking mode.

    Level
    Advanced
    Buildability
    40/100
    Incomplete documentation
    Cost
    Not stated
  • Quadruped

    Quadruped Robot

    A four-legged robot designed for research and education in legged locomotion.

    Level
    Intermediate
    Buildability
    40/100
    Incomplete documentation
    Cost
    Not stated
  • Quadruped

    Easy Quadruped Robot

    A simple quadruped robot controlled by Arduino and optionally ESP32-CAM for vision.

    Level
    Intermediate
    Buildability
    35/100
    Incomplete documentation
    Cost
    Not stated
  • No photo yet
    Quadruped

    Moco-Minitaur LTS

    An open-source 8-DOF desktop quadruped robot platform with force control capabilities.

    • No license
    Level
    Advanced
    Buildability
    35/100
    Incomplete documentation
    Cost
    Not stated

Robots 1–24 of 40

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