Stanford Doggo
Open source quasi direct drive quadruped built by students for a few thousand dollars that set a vertical jumping record.
| Maker | Stanford Student Robotics |
|---|---|
| Country | United States |
| First shown | 2019 |
| Status | Retired |
| Degrees of freedom | 8 |
| Actuation | Eight quasi direct drive brushless motors, two per leg |
| Power | Onboard lithium polymer battery |
| Sensors | Inertial measurement unit, motor position sensing |
| Autonomy | Open loop gait state machine on a microcontroller |
Doggo has four two joint legs, each driven by a pair of coaxially mounted brushless motors with almost no gear reduction, so leg forces are controlled directly through motor current. A microcontroller and off the shelf motor drivers run a state machine that produces trotting, bounding, pronking and jumping from open loop leg trajectories. Weighing under five kilograms, it jumped repeatedly to about a metre, the highest vertical jumping agility measured for a robot at the time, and its full design files were published for anyone to build.
Of note
- Highest vertical jumping agility recorded for a legged robot when published in 2019
- Complete mechanical and electrical design released as open source
Maker: www.stanford.edu