ODRI master board
- Software
- Humanoids and robot learning
- Firmware
- Runs on hardware you can build
Hardware and firmware for a master board that gathers sensor and actuator data for the Solo quadruped and links it to a realtime computer over wired or wireless connections.
Made by Open Dynamic Robot Initiative.
Source on GitHub: github.com/open-dynamic-robot-initiative/master-board (opens in a new tab). Facts read at commit 574fe98 (opens in a new tab).
Licenses
- Code
- BSD-2-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-2-Clause) at commit 574fe98 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Connects up to 8 SPI slaves at up to 80 MHz, compatible with the BLMC µDriver SPI interface.
- Offers wireless communication with a computer via raw ESP-NOW, with a 1.2 ms round trip for a 127-byte message.
- Offers wired communication via raw Ethernet frames, with a 0.2 ms round trip for a 127-byte message.
- Provides four free GPIOs that can be mapped to I2C or UART; two are used for IMU communication over UART.
- A UART is used for upgrading the ESP32 firmware and is free during normal operation.
Written by Robotheca from the project's README (opens in a new tab) at commit 574fe98.
Getting started
- Difficulty
- Advanced
- Hardware it needs, as the project states it
- Solo Quadruped Master Board (ESP32-based), with an ESP-IDF toolchain for programming it.
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 30 Jun 2026 on master
- Latest release
- v1.0.7 (24 Jun 2024)
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.