humanoidrobots.systems

stanford/pupper · spec sheet

Stanford Pupper (v1) specs

Low-cost, servo-driven 12-DOF quadruped designed for robotics education and benchmarking, running on a Raspberry Pi.

Maker
Stanford Student Robotics
Class
Quadruped
Status
Discontinued
Availability
DIY build
Country
United States, Stanford
Level
L1 Compiled
01

Media

none on record
No licensed media on record for Stanford Pupper (v1) yet. We only show our own renders from public URDF/MJCF, Wikimedia Commons files with their exact license, images from the robot’s own open repositories, and the maker’s official videos. No press images are hotlinked. Have an openly licensed image or an official video? Send it with the correction form.
02

Specifications

3/12 fields sourced
Stanford Pupper (v1) specifications
Heightspecs.heightCmunsourced
Massspecs.massKgunsourced
Degrees of freedomspecs.dof12
Payloadspecs.payloadKgunsourced
Top speedspecs.speedMpsunsourced
Runtimespecs.runtimeMinunsourced
Battery capacityspecs.batteryWhunsourced
Pricespecs.priceUsdunsourced
Actuatorsspecs.actuatorsunsourced
Computespecs.computeRaspberry Pi
Sensorsspecs.sensorsunsourced
Year introducedyear2020
Licenselicense.hw / .sw / .docsSoftware: MIT

Note · Repo carries an end-of-life notice; support moved to Pupper v3. The docs source repo (Pupper) and the PDB repo (Pupper-Raspi-PDB: KiCad, Gerbers) have no license file and were last pushed 2021 and 2020; the CAD is a public Fusion 360 share with no stated license. Software (StanfordQuadruped) is MIT.

03

Openness

method
70 / 100Open hardware
ArtifactPublicWeightPoints
CADopenness.cadyes2525
Bill of materialsopenness.bomyes2020
Sim model (URDF/MJCF)openness.simno200
Firmwareopenness.firmwareyes1515
Softwareopenness.softwareyes1010
Trained policiesopenness.policiesno100
score = Σ weight × public70
04

Build package

v0.1.0 · full guide
BOM lines
34
Parts (qty)
57
Priced BOM
$861
Fab parts
11
Print time
—
Material
—
Build steps
20
Est. assembly
—
Safety steps
5
Vendors
7

BOM by category · USD from priced lines

CategoryLinesQtyUSD
Actuators112294
Structure816218
Electronics55111
Fasteners121698
Compute2250
Sensors1137
Power2230
Other2216
Cabling117

Offers in CN · US from 7 vendors

Subsystems · assembly groups

GroupStepsMinSafety
Fabrication2——
Hips5—1
Legs2——
Body3—1
Electronics3—1
Software2——
Bring-up2—2
Options1——

Fabrication: FDM print ×7 · CNC ×4

Firmware

Targets
Raspberry Pi 4 (Raspbian Buster Lite + RPI-Setup, read-only root), 12 x JX CLS6336 PWM servos driven by pigpiod software PWM
Repo
github.com/stanfordroboticsclub/StanfordQuadruped
Calibrate
On a stand with the battery in: `rw`, `sudo systemctl stop robot`, `sudo pigpiod`, `python3 calibrate_servos.py` in StanfordQuadruped; align each joint to the prompted horizontal/vertical pose. The script writes the offsets; then `sudo systemctl start robot`.
Notes
No microcontroller firmware: run_robot.py (robot.service) runs the gait scheduler, stance/swing controllers and IK in Python and outputs PWM through pigpio. PS4 input comes from PupperCommand/PS4Joystick (joystick.service) over UDP. Gait parameters in pupper/Config.py.

Caveats · stated by the package

  • Pupper v1 is end-of-life: the StanfordQuadruped README says support moved to Pupper v3. Docs last changed 2021.
  • Both kit vendors named in the docs are gone: cypress-software-inc.myshopify.com returns 404 and the mangdang.net product link returns 404 (MangDang now sells Mini Pupper, a different design). Great3D, the carbon fiber source, did not respond on 2026-09-25.
  • Prices are the BOM's 2020 pack prices. The Hardware tab totals $423.67 (bulk $324.84); the docs say $900-$1000 if you buy everything yourself. Printed parts are listed at ~$80 (FDM) to ~$180 (SLS) through a service and are not priced lines here.
  • Amazon links in the BOM date from 2020 and several used smile.amazon.com (closed in 2023); they were rewritten to amazon.com/dp/ASIN but not re-checked. JX servos are ordered by email; no web listing.
  • The BOM and the assembly guide disagree on some fasteners: the guide uses M2x8 socket screws in the servo horn clamps (not on the BOM), M4x8 plastic screws on the body (BOM: M4x10), M2.5x6 for the Pi (BOM: M2.5x5), and M3x6 button heads for the carbon plate and upper leg (BOM buys M3x6 socket heads; the M3x6 button head line is marked 'repeat' with no purchase line).
  • The Raspbian image link in the software guide (slack-files.com) is an old workspace file link; use the documented fallback 2020-02-13-raspbian-buster-lite. RPI-Setup and install.sh target Buster; newer Pi OS releases are untested upstream.
  • No URDF/MJCF is published for v1 (the docs mention PyBullet but ship no model), and no learned policy.
  • PCB fab: the PDB needs 2 oz copper; JLCPCB is the upstream vendor (CN). The BOM does not list the Dupont/JST crimps needed for the BEC input.
  • Software license MIT (StanfordQuadruped). CAD is a public Fusion 360 share with no stated licence.

Package stanford/pupper@0.1.0 · upstream stanfordroboticsclub/Pupper (docs/)@9c556d027e2ff95efb2f90bf2ee3fc4dd80bb95d (2021-09-18), served at pupper.readthedocs.io/en/latest as of 2026-09-25; Google Sheets BOM 1zZ2e00XdzA7zwb35Ly_HdzfDJcsxMIR_5vjwnf-KW70 exported 2026-09-25; stanfordroboticsclub/StanfordQuadruped@dc0c5e2089cf2c0aac3c59982a4f140c31803175 (2024-07-03, end-of-life notice) · 16 package sources

05

Models, repositories, links

4 links
06

Videos

1 tagged · 0 from the maker's channel
Stanford PupperNathanOfficial embedyoutube.comStanford UniversityStanford Pupper (v1)
07

News and papers

0 stories · 0 papers

News mentioning Stanford Pupper (v1)

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Papers using Stanford Pupper (v1)

The papers feed is not reachable right now; this page regenerates every 30 minutes.
08

Timeline

industry timeline

20211

  1. Open source

    Stanford Pupper paper published

    Stanford researchers presented Pupper, a low-cost open-source quadruped intended as a benchmark and teaching platform for legged robotics.

    Stanford UniversityStanford Pupper (v1)arxiv.orggithub.com
09

Sources

last checked 2026-09-25
  1. [1]StanfordQuadruped repo (EOL notice)github.com/stanfordroboticsclub/StanfordQuadrupedchecked 2026-09-24
  2. [2]arXiv: Stanford Pupper paperarxiv.org/abs/2110.00736checked 2026-09-24
  3. [3]Pupper 2020 documentationpupper.readthedocs.io/en/latest/checked 2026-09-24
  4. [4]Pupper docs: part sourcing (kit vendors, PDB fab)pupper.readthedocs.io/en/latest/guide/purchasing.htmlchecked 2026-09-25
  5. [5]Pupper-Raspi-PDB (KiCad, Gerbers)github.com/stanfordroboticsclub/Pupper-Raspi-PDBchecked 2026-09-25
10

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now: —
POST hyperspawn.io/api/v1/reports
11

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Cite this page

humanoidrobots.systems. “Stanford Pupper (v1) specs.” Hyperspawn, data revision 2026-10-08. https://humanoidrobots.systems/stanford/pupper

Machine-readable: /data.json (record stanford/pupper).