Barkour Robot

An agile quadruped robot platform developed by Google DeepMind for research, with CAD, electronics, firmware and assembly guides.

Quadruped
Open source
3D printable

Suggested by Robotheca, created by @google-deepmind (opens in a new tab), from github.com/google-deepmind/barkour_robot (opens in a new tab). Pinned to commit e7c0f6f (opens in a new tab).

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Hardware license: Apache-2.0 (opens in a new tab)
Software license: Apache-2.0 (opens in a new tab)
Commercial use: Allowed

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (2 firmware images)

Barkour Robot, photo from its repository — Photo:@google-deepmind (opens in a new tab)Apache-2.0source file (opens in a new tab)

3D preview converted from github.com/google-deepmind/barkour_robot at e7c0f6f, under Apache-2.0. View the original files from GitHub (77.0 MB) (opens in a new tab)

1 of the 11 STEP files is not in the 3D view: 1 beyond what one preview can hold.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

1Robot getting started and basic usage
2Actuator assembly and setup
3Leg linkage assembly
4Hip cover assembly
5Wireless E-stop (STO) assembly
6IMU configuration
7Actuated head assembly
8Barkour robot assembly

The guide appears here as you scroll.

Guide by @google-deepmind (README.md), under Apache-2.0.

More guides

Wiring and electronics

Schematics, boards and diagrams

Project information

Difficulty: Advanced
Estimated cost: Not stated
Buildability: 50/100Buildable with some effort
Parts: –
Tools: 3D printer, soldering iron

Buildability50/100

Buildable with some effort

How complete the published files are for rebuilding this robot, measured by Robotheca at commit e7c0f6f. It isn't a rating of the robot. Counted out of 80 points and scaled to 100: the parts that don't apply to this robot are left out. How we score

3D and CAD files10/20
11 CAD source files.
Add the parts to print (STL or 3MF files).
Robot descriptionNot counted
No URDF. Not counted: the score is made of the parts that apply.
Optional: add a URDF, and the robot can be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software5/15
Code in this repository. The documents have not been read yet.
Say which software framework it uses (ROS 2, LeRobot, Arduino…).
Documentation15/15
README of 4,481 characters with 8 pictures; 8 build steps.
SimulationNot counted
No simulation files. Not counted: the score is made of the parts that apply.
Optional: add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: Apache-2.0; software: Apache-2.0.

Software

Framework: Not stated
Languages: C++, C, MATLAB / Objective-C, Python
License: Apache-2.0

Software that runs on this robot

No software from Robotheca's catalogue found in this robot's files yet. Links come from its robot.yaml, its dependency files read as text, or Robotheca's editors.

The code

Robotheca doesn't review code. Read it before running it.

Project files

Every file of the project: code, CAD, electronics, guides, at commit e7c0f6f.

Community

Questions and improvements go to the creator's repository.

Photo and 3D model

Bill of materials

Build guide

More guides

Wiring and electronics

Schematics, boards and diagrams