OpenQuadruped

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.

Printing

A full OpenQuadruped is a 12-DOF robot: 4 legs (front-left, front-right, back-left, back-right), 3 servos each. The leg parts are handed (left vs right mirror geometry), so quantities below are split accordingly. Printed in PLA, ~679 cm³ total per the STL ZIP. Calibration jigs are tools, not robot parts.

Body / chassis — print one each (8):

• Chassis_Left_Side, Chassis_Right_Side — the two chassis halves
• Front_Inner_Shoulder, Front_Outer_Shoulder, Back_Inner_Shoulder, Back_Outer_Shoulder — the four shoulder mounts (v2 reinforced)
• Adapter_Plate, Electronics_Plate — internal mounting plates

Covers — print one each (4): Top, Bottom, Front, Rear

Legs — handed parts: The robot needs 2 left legs and 2 right legs.

• Left_Hip_Joint ×2 (front-left + back-left)
• Right_Hip_Joint ×2 (front-right + back-right)
• The shared leg parts are mirror-distinct between left and right in the upstream repo (Bridge, Foot, Lower_Leg, Upper_Leg differ slightly L vs R; Idler_Mount, Servo_Cover, Upper_Pulley are symmetric). This list carries one generic copy of each shared leg part — print ×4 (one per leg), mirroring the asymmetric ones (Bridge, Foot, Lower_Leg, Upper_Leg) in your slicer for the right-side legs:
  • Upper_Leg ×4, Lower_Leg ×4, Foot ×4, Bridge ×4, Idler_Mount ×4, Servo_Cover ×4, Upper_Pulley ×4

Calibration jigs (tools — NOT part of the robot, optional):

• Lower_Leg_Calibrator and L_Upper_Leg_Calibrator are assembly jigs used to set servo-horn zero positions during build. Print them once if you want the guided calibration; they are discarded after assembly and are not attached to the finished robot. (Upstream also has a Hip_Calibrator jig not included here.)

Servos / electronics (not printed): 12× DS3218 20kg digital servos (3 per leg), 1× Teensy 4.1, 1× Raspberry Pi 4, 1× custom 12-channel servo PCB, MPU6050 IMU, plus 608 bearings for the leg pivots.