465 stars on GitHub. OpenQuadruped is an open-source 3D-printed quadruped robot by Adham Elarabawy, with 12-DOF Bezier-curve gait generation, full 6-axis body pose manipulation, and a custom 3DOF-leg inverse kinematics model that accounts for actuator offsets. Source: https://github.com/adham-elarabawy/open-quadruped Built around 12 servos (3 per leg: hip, upper, lower) on a custom PCB driving a Teensy controller. ROS infrastructure ties together the high-level gait planner, body IK, and Gazebo / RViz simulation. Hardware: - 12-DOF Bezier-curve gait engine - Custom 12-channel servo PCB (gerbers in repo) - Teensy LLC for real-time servo dispatch - Reinforced shoulder mounts (v2 redesign) What's in the repo: - Full STL set: chassis, shoulders, legs, calibration jigs (hardware/3d-printing) - Custom PCB gerber files (hardware/pcb) - Teensy firmware (llc-teensy) - Python control library + Gazebo simulation (control_library, vis-tool) - ROS workspace (excluded from this listing due to Windows-incompatible path) Resources: - Wiki: https://github.com/adham-elarabawy/OpenQuadruped/wiki - IK model paper: https://www.adhamelarabawy.com/images/IK_Model.pdf - Author portfolio: https://www.adhamelarabawy.com License: MIT.
Category: Mobile Robots
| Part | Notes | |------|-------| | 12x servo motors | Controls all leg joints (3 DOF per leg) | | Custom PCB | Controls 12 servos + sensor integration; Gerber files in hardware folder | | 3D printed body chassis | Left + right side panels, shoulder mounts | | 3D printed leg assemblies | Upper leg, lower leg, foot, hip joint per leg | | Electronics plate | Mounts inside chassis | | Body covers | Front, rear, top, bottom panels |