An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.
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Key parameters and specifications
Key parameters and specifications
Parameter
Value
Language
C++
Category
Applications
Subcategory
Specialists
Keywords
3D, Embodied, Robotics
Stars
511
Forks
88
Contributors
1
Created date
2020-05-12
Updated date
2026-10-02
Stars in 1 day
0
Stars in 7 days
0
Rank
18,062
Previous rank
17,829
Rank change
-233
7-day stars rank
16,443
Previous 7-day stars rank
16,456
7-day stars rank change
13
Total stars rank
19,041
Previous total stars rank
19,015
Total stars rank change
-26
Country
USA
README summary
open-quadruped An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets. Current Status To-Do List [x] *Hardware* // Redesign legs to move actuators closer to hip + reinforce all servo mounting. [ ] *Design* // Research transition between gait & body pose. [x] *Software* // Implementing ROS infrastructure for all control processes (including cpp on teensy). [ ] *Software* // Write & automate pytest unit tests. [ ] *Software* // Integrate unit tests with github actions. (or port
collaborater's URDF: Maurice Rahme) [x] *Simulation* // Gazebo [ ] *Simulation* // RViz Realtime Model [ ] *Design* // Solve offset 3DOF IK model for right limbs _OR_ validate that mirroring angles works for left/right legs [ ] *Simulation* // Implement WebGazebo clientside support for non-linux users [ ] *Sim-to-Real* // Joint servo calibration [ ] *Sim-to-Real* // Refining gait parameters [ ] *Simulation* // Reinforcement learning via ARS [ ] *Software* // Raibert Huerestic for converting desired velocities into gait parameters [ ] *Software* // ROS Nav Stack Layer Papers I've been formally documenting this project in the
form of papers. pdf Documentation You can find a summary of this project on my portfolio website's project page. I'm hosting most of the technical documentation for this project on this repo's wiki. 3D Model In the model folder, you can find all of the step & stl files that I used for my build of OpenQuadruped. There, you can also find a Bill of Materials, and some guides (in progress). Hardware I made a custom pcb board to control the
position and speed of 12 servos simultaneously, as well as interface with all of the sensors. You can find the gerber files for the custom pcb in the hardware folder in this repository. You can find the bill of materials for this project here. Visualization Usage *NOTE: There are 3 different visualization tools: Gazebo Simulator (ROS + Physics), RViz (ROS), & my custom 3d-matplotlib visualization tool (body IK model + leg IK model). The latter tool is still under development, and I
haven't ported it to use my new control library yet, so it is likely broken for the time being. * To try the visualization tool out, you'll need to run the animate. py python file with the proper libraries installed. You can then use keyboard controls: use x, y, z, a, p, r to select (x axis, y axis, z axis, yaw, pitch, roll), and then the up and down buttons to increment the selected position. If you click '1' on
your keyboard, it will reset the position. Right now, if you try to go to an impossible pose that would result in collisions, the body will do some weird things. If that happens, just click "1" on your keyboard to reset the position. *Note: Pitch and Roll are currently not working.
Frequently asked questions
How many stars and forks are recorded?
adham-elarabawy/open-quadruped has 511 stars and 88 forks.
What is the repository rank?
adham-elarabawy/open-quadruped is ranked 18,062.
What language and category are recorded?
adham-elarabawy/open-quadruped has 511 stars, uses C++ and belongs to Applications.
Which repository is closest in rank?
adham-elarabawy/open-quadruped is compared with baxtree/subaligner, ranked 18,064 with 511 stars.
README
open-quadruped
An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.
Current Status
To-Do List
[x] Hardware // Redesign legs to move actuators closer to hip + reinforce all servo mounting.
[ ] Design // Research transition between gait & body pose.
[x] Software // Implementing ROS infrastructure for all control processes (including cpp on teensy).
[ ] Software // Write & automate pytest unit tests.
[ ] Software // Integrate unit tests with github actions.
[x] Simulation // Create URDF model. (or port collaborater's URDF: Maurice Rahme)
[x] Simulation // Gazebo
[ ] Simulation // RViz Realtime Model
[ ] Design // Solve offset 3DOF IK model for right limbs OR validate that mirroring angles works for left/right legs
[ ] Simulation // Implement WebGazebo clientside support for non-linux users
[ ] Sim-to-Real // Joint servo calibration
[ ] Sim-to-Real // Refining gait parameters
[ ] Simulation // Reinforcement learning via ARS
[ ] Software // Raibert Huerestic for converting desired velocities into gait parameters
In the model folder, you can find all of the step & stl files that I used for my build of OpenQuadruped. There, you can also find a Bill of Materials, and some guides (in progress).
Hardware
I made a custom pcb board to control the position and speed of 12 servos simultaneously, as well as interface with all of the sensors.
You can find the gerber files for the custom pcb in the hardware folder in this repository.
You can find the bill of materials for this project here.
Visualization Usage
NOTE: There are 3 different visualization tools: Gazebo Simulator (ROS + Physics), RViz (ROS), & my custom 3d-matplotlib visualization tool (body IK model + leg IK model). The latter tool is still under development, and I haven't ported it to use my new control library yet, so it is likely broken for the time being.
To try the visualization tool out, you'll need to run the animate.py python file with the proper libraries installed. (matplotlib 3.0.3 supported).
You can then use keyboard controls: use x, y, z, a, p, r to select (x axis, y axis, z axis, yaw, pitch, roll), and then the up and down buttons to increment the selected position. If you click '1' on your keyboard, it will reset the position.
Right now, if you try to go to an impossible pose that would result in collisions, the body will do some weird things. If that happens, just click "1" on your keyboard to reset the position.
Note: Pitch and Roll are currently not working. I am currently trying to fix that.
