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Mini Pupper

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

  • Quadruped
  • Open source
  • Works with AI
  • ROS 2

Suggested by Robotheca, created by @mangdangroboticsclub (opens in a new tab), from github.com/mangdangroboticsclub/QuadrupedRobot (opens in a new tab). Pinned to commit db0de63 (opens in a new tab).

Fork on GitHub (opens in a new tab)Download the files at this commit (.zip)
Hardware license
MIT (opens in a new tab)
Software license
MIT (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 (5 files marked executable, 12 scripts)

Photo

Mini Pupper, photo from its repository
Photo:@mangdangroboticsclub (opens in a new tab)MITsource file (opens in a new tab)
Degrees of freedom
12

What it can do

Written by Robotheca from the project's documents.

  • Walks with 12 degrees of freedom using trot, pace, bound gaits
  • Runs SLAM and navigation with ROS on Ubuntu
  • Performs OpenCV AI tasks with OAK-D-Lite camera
  • Follows hand signals for control
  • Displays animated eyes on an LCD screen
  • Plays jump rope animation
  • Supports PS4 joystick control over Bluetooth
  • Communicates between processes over UDP network

Works with AI

Found by Robotheca in the project's files at commit db0de63, 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 creator's steps, each with its instructions.

  1. 1Flash Ubuntu preinstalled image to the SD card
  2. 2Boot Raspberry Pi
  3. 3Install dependencies and clone repository
  4. 4Run pre-installation and installation scripts
  5. 5Configure and enable restart_joy service
  6. 6Reboot system

The guide appears here as you scroll.

Guide by @mangdangroboticsclub (README.md), under MIT.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

  • Raspberry Pi 4 or 5 as main controller
  • 12 Mini Pupper custom servos for legs
  • PCA9685 servo controller board
  • IMU integrated on carry board
  • OAK-D-Lite 3D camera module
  • PS4 DualShock controller for input
  • LCD screen for HMI
  • LiPo battery with onboard voltmeter and alarm
  • Power switch and charging port

Connections

  • Servos connected to PCA9685 via I2C bus
  • IMU connected via I2C to Raspberry Pi
  • OAK-D-Lite camera connected via USB
  • PS4 controller paired over Bluetooth to Raspberry Pi
  • LCD screen connected via GPIO or I2C
  • Battery connected to power distribution board with switch