humanoidrobots.systems

stanford/pupper-v3 · spec sheet

Stanford Pupper v3 specs

Open-source educational quadruped developed through Stanford courses, with brushless motors, a Raspberry Pi 5 and a reinforcement-learning locomotion policy out of the box.

Maker
Stanford Student Robotics / Hands-On Robotics
Class
Quadruped
Status
Active
Availability
DIY build
Country
United States, Stanford
Level
L1 Compiled
01

Media

4 items · credited and licensed
Pupper v3 studio render, three-quarter front viewrender
Studio render of the published MJCF, keyframe pose from the model. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from G-Levine/pupper_v3_description (MIT)license: Hyperspawn rendergithub.com
Pupper v3 studio render, side viewrender
Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from G-Levine/pupper_v3_description (MIT)license: Hyperspawn rendergithub.com
Completed Pupper v3 quadruped standing, turquoise printed parts
From the pupper-v3 documentation.Hands-On Robotics (pupper-v3-documentation)license: AGPL-3.0github.com
4 s turntable of the MJCF studio render.Rendered by Hyperspawn from G-Levine/pupper_v3_description (MIT)license: Hyperspawn rendergithub.com
02

Specifications

6/12 fields sourced
Stanford Pupper v3 specifications
Heightspecs.heightCmunsourced
Massspecs.massKg3kg
Degrees of freedomspecs.dof12
Payloadspecs.payloadKgunsourced
Top speedspecs.speedMpsunsourced
Runtimespecs.runtimeMinunsourced
Battery capacityspecs.batteryWhunsourced
Pricespecs.priceUsdunsourcedRoughly $1000 BOM per project README; ~$2000 to build per Stanford page
Actuatorsspecs.actuatorsGIM4305 400 W brushless motors
Computespecs.computeRaspberry Pi 5
Sensorsspecs.sensorsLuxonis SR depth camera
Year introducedyear2024
Licenselicense.hw / .sw / .docsSoftware: AGPL-3.0 AND GPL-3.0 AND MIT

Note · Ships with an RL locomotion policy. Third-party vendors (e.g. AIFITLAB) sell kits. Year = docs '2024' edition. Licenses (GitHub license API, 2026-09-25): pupper-v3-documentation AGPL-3.0, pupperv3-monorepo and pupperv3-mjx GPL-3.0, pupper_v3_description MIT. CAD is a public Onshape/Fusion share with no stated license. Mass 3 kg per the docs tech specs page.

03

Openness

method
100 / 100Open hardware
ArtifactPublicWeightPoints
CADopenness.cadyes2525
Bill of materialsopenness.bomyes2020
Sim model (URDF/MJCF)openness.simyes2020
Firmwareopenness.firmwareyes1515
Softwareopenness.softwareyes1010
Trained policiesopenness.policiesyes1010
score = Σ weight × public100
04

Build package

v0.1.0 · full guide
BOM lines
33
Parts (qty)
413
Priced BOM
$2,043
Fab parts
19
Print time
—
Material
—
Build steps
21
Est. assembly
—
Safety steps
4
Vendors
12

BOM by category · USD from priced lines

CategoryLinesQtyUSD
Actuators2141,332
Electronics910274
Compute33164
Power12100
Sensors4492
Fasteners425432
Other3629
Printed1120
Cabling6119—

Offers in CN · EU · GLOBAL · US from 12 vendors

Subsystems · assembly groups

GroupStepsMinSafety
Electronics prep3—1
Fabrication2—1
Software3——
Brain3——
Body4—1
Legs3——
Bring-up1—1
Options1——
Policy1——

Fabrication: FDM print ×18 · Laser cut ×1

Firmware

Targets
Control board Rev 3.5, two STM32 MCUs: SPIneV1.elf via ST-Link V2 / STM32CubeProgrammer, 12 x Steadywin GIM4305 SHS drivers: vendor firmware .elf via ST-Link, parameters and CAN ID via Steadywin Motor Wizard over CP2102 UART, Raspberry Pi 5: pupOS image (PiOS + ROS 2 Jazzy + pupperv3-monorepo)
Repo
github.com/Nate711/pupperv3-monorepo
Calibrate
Motor encoders: 'calibrate encoder' then Sync in Motor Wizard during driver setup. Joint zero: automatic at every start; control_board_hardware_interface drives each joint to its end stop (homing stages, velocities and torque thresholds from the ros2_control xacro) and then to the rest pose.
Notes
Firmware binaries (SPIneV1.elf, motor .elf, Motor Wizard .exe) are Google Drive downloads, not source in a repo. The Pi runs ROS 2 (neural_controller, control_board_hardware_interface over SPI to the control board, which talks CAN to the motors). robot.service runs `ros2 launch neural_controller launch.py` at boot.

Policies

  • velocity-tracking locomotion from joystick (default walking policy) · MuJoCo MJX + Brax PPO (pupperv3-mjx), JSON weights run by the neural_controller ROS 2 node · github.comGit LFS file (~39 MB); config.yaml neural_controller.model_path points at it. Same folder also holds policy.json and two named W&B runs.
  • three-legged walking · MuJoCo MJX + Brax PPO (pupperv3-mjx) · github.comUsed by the neural_controller_three_legged entry in config.yaml. Git LFS.

Caveats · stated by the package

  • Upstream pins: HandsOnRobotics/pupper-v3-documentation@c25c91d54f09a1ed202b9cd9a3b13b33f09c0df2 (2025-10-20), readthedocs latest as of 2026-09-25; Google Sheets BOM tab 'v3.5' exported 2026-09-25; Google Slides 'Pupper Build Instructions' and motor flashing Google Doc exported 2026-09-25; Nate711/pupperv3-monorepo@6f96c5e79faa05492992c19918f8cd90b9243281 (2026-07-25); Nate711/pupperv3-mjx@684932a451819584847b10e5c9aec546443a9462 (2025-10-17); G-Levine/pupper_v3_description@1a3c8590189d3a406219d155f4177afc491a7d77 (2024-11-08)
  • BOM totals (v3.5 tab): $2,158.91 all lines, $1,785.91 'min cost'. The docs index says about $2,000; the StanfordQuadruped README says roughly $1,000 BOM (older figure). The 12 motors are $1,320 of that.
  • USD figures are the BOM's approximate line totals; per-unit prices here are those totals divided by quantity (motors: 12 x $105 + $60). Cable and sleeving lines have no price.
  • Several items the build slides install as standard are marked [Optional] in the BOM (AI kit, M.2 adapter, camera, lens, speaker, ear servos, microphone).
  • The motor driver firmware, control board firmware (SPIneV1.elf), Motor Wizard and pupOS image are Google Drive downloads with no source repo; build instructions and the motor flashing guide are Google Slides/Docs, so they can change without version history visible here.
  • Custom PCBs need a JLCPCB PCBA order with the BNO086 global-sourced; the docs call this 'a little tricky'. Motors bought as the AIFitLab 'Pupper v3 version' skip the driver flashing.
  • Kits: Present Perfection (US, run by the project's kit builder) and AIFitLab (China, unaffiliated) per the docs; neither is a BOM line here.
  • The DeWalt pack has no low-voltage cutoff on the robot; the docs say not to run longer than 40 minutes. Motors get hot after long runs.
  • The build slides contain a 'TODO COME BACK TO THIS' note at the screen pogo-pin step, and a few screw callouts differ (e.g. M2.5x8 text vs M2.5x10 label on the abduction bracket).
  • Licenses: pupper-v3-documentation AGPL-3.0; pupperv3-monorepo and pupperv3-mjx GPL-3.0; pupper_v3_description MIT. CAD is a public Onshape/Fusion share with no stated licence.
  • Default password in the docs is `rhea123`; change it.

Package stanford/pupper-v3@0.1.0 · upstream HandsOnRobotics/pupper-v3-documentation@c25c91d54f09a1ed202b9cd9a3b13b33f09c0df2 (2025-10-20), readthedocs latest as of 2026-09-25; Google Sheets BOM tab 'v3.5' exported 2026-09-25; Google Slides 'Pupper Build Instructions' and motor flashing Google Doc exported 2026-09-25; Nate711/pupperv3-monorepo@6f96c5e79faa05492992c19918f8cd90b9243281 (2026-07-25) … (full pins in caveats) · 19 package sources

05

Models, repositories, links

7 links
06

News and papers

0 stories · 0 papers

News mentioning Pupper v3

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07

Sources

last checked 2026-09-25
  1. [1]Pupper v3 docs: technical specifications (3 kg)pupper-v3-documentation.readthedocs.io/en/latest/learn_more/tech_specs.htmlchecked 2026-09-25
  2. [2]pupperv3-monorepo (ROS 2 stack, policies; GPL-3.0)github.com/Nate711/pupperv3-monorepochecked 2026-09-25
  3. [3]pupperv3-mjx (MJX training; GPL-3.0)github.com/Nate711/pupperv3-mjxchecked 2026-09-25
  4. [4]Pupper v3 docs: modifying code, training a policypupper-v3-documentation.readthedocs.io/en/latest/development/modifying_code.htmlchecked 2026-09-25
  5. [5]Pupper v3 documentationpupper-v3-documentation.readthedocs.io/en/latest/checked 2026-09-24
  6. [6]README: Pupper v3 quick specsgithub.com/stanfordroboticsclub/StanfordQuadrupedchecked 2026-09-24
08

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Cite this page

humanoidrobots.systems. “Stanford Pupper v3 specs.” Hyperspawn, data revision 2026-10-08. https://humanoidrobots.systems/stanford/pupper-v3

Machine-readable: /data.json (record stanford/pupper-v3).