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Micro Dog

A 0.96 kg, 12-DOF quadruped robot dog driven by 12 Dynamixel XL330-M288-T servos and built around a Raspberry Pi Zero 2 W.

  • Quadruped
  • Works with AI
  • 3D model (URDF)

Suggested by Robotheca, created by @moieboy9999 (opens in a new tab), from github.com/moieboy9999/Micro_Dog (opens in a new tab). Pinned to commit 68373f9 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
CC-BY-NC-SA-4.0 (opens in a new tab)
Software license
GPL-3.0-only (opens in a new tab)
Commercial use
Not allowed

A non-commercial license (CC-BY-NC) does not allow selling kits or parts.

Photo and 3D model

This repository has no photo of the robot yet.
Try it in the browser

3D model loaded from the original files on GitHub at 68373f9, under CC-BY-NC-SA-4.0. View the original files from GitHub (19.6 MB) (opens in a new tab)

Degrees of freedom
12
Weight
0.96 kg

What it can do

Written by Robotheca from the project's documents.

  • Walks as a 12-DOF quadruped with a learned velocity-tracking walking policy trained with RSL-RL PPO in Isaac Lab.
  • Walking policy tracks commanded forward, lateral and yaw velocities, with training commands up to 0.70 m/s, 0.50 m/s and 1.8 rad/s.
  • Each leg has hip roll, thigh pitch and knee pitch joints driven by Dynamixel XL330-M288-T servos in position mode.
  • Policy runs at 50 Hz and is started with gamepad button A.
  • Simulation model (URDF, USD, MuJoCo-style description) is provided for use in Isaac Sim, Isaac Lab, ROS and other simulators.

Works with AI

Found by Robotheca in the project's files at commit 68373f9, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The guide appears here as you scroll.

Guide by @moieboy9999 (README.md). Its license (CC-BY-NC-SA-4.0 (hardware) and GPL-3.0-only (software)) doesn't let everyone reuse it. To reuse it, ask the creator on GitHub (opens in a new tab). Creators can ask Robotheca to remove it at contact@robotheca.org.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Raspberry Pi Zero 2 W as the main compute board.
  • Pollen Robotics RPI Robot HAT.
  • 12 Dynamixel XL330-M288-T servos using Protocol 2.0.
  • 2-cell lithium battery pack with a BMS and charging module.
  • IMU providing gyro and gravity estimates for the policy (placement and calibration not included).

Connections

  • The Robot HAT connects the Raspberry Pi Zero 2 W to the Dynamixel servos.
  • Servo IDs and signs are listed in docs/specs.md section 4.
  • Battery powers the Pi and servos through the BMS and charging module.