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BAbout this program
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.
🖨 Print Files (25)
Chassis_Left_Side.stl
STL
Chassis_Right_Side.stl
STL
Front_Inner_Shoulder.stl
STL
Front_Outer_Shoulder.stl
STL
Back_Inner_Shoulder.stl
STL
Back_Outer_Shoulder.stl
STL
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Product links updated May 23, 2026 · ✓ Confirmed fresh May 19, 2026
$350–$450 estimated
| Part | Qty | Unit Cost | Notes |
|---|---|---|---|
| DS3218 20kg Digital Servo | 12 | ~$12 | 3 per leg × 4 legs (hip, upper, lower) |
| Teensy 4.1 Development Board | 1 | ~$27 | Real-time servo dispatch (LLC firmware) |
| Raspberry Pi 4 Model B 4GB | 1 | ~$55 | High-level gait + ROS control |
| Custom 12-channel Servo PCB | 1 | ~$15–50 | Gerber files in hardware/pcb; order from JLCPCB |
| MPU6050 6-Axis IMU Module | 1 | ~$10 | Body orientation feedback |
| 3S 11.1V 5000mAh LiPo Battery (XT60) | 1 | ~$35 | Main power |
| 5V 5A UBEC Voltage Regulator | 1 | ~$13 | Powers RPi from LiPo |
| 608 Skateboard Bearings 8×22×7mm | 10-pack | ~$10 | Leg joint pivots |
| LiPo Balance Charger 2S–6S | 1 | ~$25 | |
| Dupont Jumper Wires Kit | 1 lot | ~$10 | PCB-to-Teensy wiring |
| PLA Filament 1.75mm 1kg | 1–2 rolls | ~$22/roll | 3D-printed chassis, legs, covers |
| M2/M3 screws, servo horns, standoffs | 1 lot | ~$15 | Assembly hardware |
DS3218 20kg Digital Servo ×12 ↗Teensy 4.1 Development Board ↗Raspberry Pi 4 Model B 4GB ↗MPU6050 6-Axis IMU Module ↗3S 11.1V 5000mAh LiPo Battery (XT60) ↗5V 5A UBEC BEC Voltage Regulator ↗608 Skateboard Bearings 8x22x7mm (10-pack) ↗LiPo Balance Charger 2S-6S ↗Dupont Jumper Wires Premium Kit ↗PLA 3D Printer Filament 1.75mm 1kg ↗
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