Stanford Doggo: An Open-Source, Quasi-Direct-Drive Quadruped

05/10/2019

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by   Nathan Kau, et al.

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This paper presents Stanford Doggo, a quasi-direct-drive quadruped capable of dynamic locomotion. This robot matches or exceeds common performance metrics of state-of-the-art legged robots. In terms of vertical jumping agility, a measure of average vertical speed, Stanford Doggo matches the best performing animal and surpasses the previous best robot by 22 presented with focus on our quasi-direct-drive design methodology. The hardware and software to replicate this robot is open-source, requires only hand tools for manufacturing and assembly, and costs less than 3000.