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HighTorque-MiniDog

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

  • Quadruped
  • No license: all rights reserved by the creator
  • ROS 2
  • 3D model (URDF)
  • 3D printable

Suggested by Robotheca, created by @Lain-Ego0 (opens in a new tab), from github.com/Lain-Ego0/HighTorque-MiniDog (opens in a new tab). Pinned to commit cf1cff9 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
No license
Software license
No license
Commercial use
Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

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

Which files (46 scripts, 5 programs or installers)

Photo and 3D model

Its license doesn't let Robotheca show its photos.
See the photos on GitHub (opens in a new tab)
Try it in the browser

3D model loaded from the original files on GitHub at cf1cff9, under NONE. View the original files from GitHub (18.5 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

  • Moves legs to walk, trot, or stand using high-torque HTDW4438 motors
  • Runs on ROS with real-robot SDK for motor control and feedback
  • Supports position, velocity, torque, voltage, current, and PD control modes
  • Provides Sim2Real training pipelines in separate repositories
  • Offers fall-down protection by cutting motor power automatically
  • Publishes IMU sensor data for pose estimation
  • Allows remote power control via CAN commands

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

  1. 1Clone the repository
  2. 2Review URDF assets
  3. 3Use real-machine SDK scripts

The creator's guide is in the repository. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guideAsk the creator on GitHub (opens in a new tab)

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • HTDW4438 ultra-small high-torque motors (12 or more per robot)
  • CAN-FD or CAN 2.0B communication boards (STM32H730 based)
  • IMU module (Yesense or similar) for attitude sensing
  • Power distribution board with CAN-controlled power switches
  • Serial-USB adapter for host computer communication
  • Host computer running ROS (Ubuntu recommended)

Connections

  • Motors are wired to CAN ports on communication boards in groups of up to 6 per port
  • Communication boards connect to host computer via USB serial port (e.g. /dev/ttyACM0)
  • IMU connects to host computer via separate USB serial port
  • Power distribution board receives battery power and distributes to motors and electronics
  • CAN bus links communication boards to power distribution board for control and feedback