Image: Stanford Pupper / Hands-On Robotics (Nathan Kau 等) · docs AGPL-3.0, photo not separately licensed
Open source Quadrupeds
Stanford Pupper V3
An open-source companion robot dog from Stanford Student Robotics, used in Stanford’s CS 123: 12 brushless joints, Raspberry Pi 5, RL-trained walking, voice and vision — about US$2,000 to build.
- Type
- Quadruped
- DoF
- 12 (+2 ear servos)
- Weight
- 3 kg
- Size
- 25 × 20 × 22 cm (crouched)
- BOM cost
- ≈ US$2,158.91 (v3.5)
- Structure
- PETG + TPU prints
- Open hardware and open code
- Full bill of materials with supplier links
- Direct links to the original CAD, code and papers
01 — Project details
Overview, BOM and resources
Overview
Pupper V3 is a robot dog “designed to spark joy and teach robotics and AI”. Walking is trained with RL in simulation, a fisheye camera in the nose handles vision, and it can hold voice conversations with an LLM.
Each joint is a Steadywin GIM4305 brushless motor with a 10:1 planetary gearbox; the body prints in PETG with a TPU strap. The team publishes the full BOM, assembly slides, production files for both PCBs and all the code.
Key specifications
| Actuators | Steadywin GIM4305 (4005 brushless + 10:1 planetary), ≈3.5 N·m peak, ≈1.0 N·m continuous |
|---|---|
| Computer | Raspberry Pi 5 8GB + custom Pi Hat (STM32) |
| Sensors | BNO086 IMU, IMX296 222° fisheye camera, microphone |
| Interaction | 4" LCD face, 3 W speaker, 2 ear servos |
| Battery | DeWalt 20V Powerstack 1.7Ah |
Bill of materials
Total US$2,158.91 (official BOM v3.5, incl. optional parts and tools; minimum ≈ US$1,785.91). Printed parts and other unpriced items are in the collapsible table below.
Download the BOM (.xlsx) · Official BOM ↗
| Part | Model / spec | Qty | Unit | Subtotal | Supplier |
|---|---|---|---|---|---|
| Stand | |||||
| M2.5x25 socket head | 4 | $1.00 | $4.00 | mcmaster.com ↗ | |
| Hardware | |||||
| PETG HF 1.75mm for structure | 1 | $20.00 | $20.00 | us.store.bambulab.com ↗ | |
| M2.5x10 socket head | 100 | $0.07 | $7.00 | mcmaster.com ↗ | |
| M2.5 heat-set tapered threaded insert | 100 | $0.17 | $17.00 | mcmaster.com ↗ | |
| M3x8 cap head | 50 | $0.08 | $4.00 | mcmaster.com ↗ | |
| Squash ball single or double yellow dot | 4 | $3.75 | $15.00 | amazon.com ↗ | |
| [Optional] Caution hot surface label | 1 | $10.00 | $10.00 | a.co ↗ | |
| [Optional] Stand base plate | 1 | $80.00 | $80.00 | drive.google.com ↗ | |
| Brain electronics | |||||
| 4x4in Waveshare HDMI Raspberry Pi screen | 1 | $75.99 | $75.99 | a.co ↗ | |
| Rasberry Pi 5 8gb | 1 | $80.00 | $80.00 | digikey.com ↗ | |
| USB Flash drive 128 gb | 1 | $14.00 | $14.00 | a.co ↗ | |
| 2x20 female header extension | 1 | $2.50 | $2.50 | adafruit.com ↗ | |
| Pi hat control board | 1 | $60.00 | $60.00 | drive.google.com ↗ | |
| [Optional] AI kit | 1 | $70.00 | $70.00 | canakit.com ↗ | |
| [Optional] M.2 adapter board for AI kit | 1 | $13.00 | $13.00 | waveshare.com ↗ | |
| [Optional] Arducam IMX296 | 1 | $62.00 | $62.00 | a.co ↗ | |
| [Optional] Fisheye lens | 1 | $15.00 | $15.00 | uctronics.com ↗ | |
| [Optional] Lens holder | 1 | $3.00 | $3.00 | uctronics.com ↗ | |
| [Optional] Wireless lapel microphone usb | 1 | $12.00 | $12.00 | a.co ↗ | |
| [Optional] Speaker | 1 | $4.00 | $4.00 | adafruit.com ↗ | |
| Other electronics | |||||
| Power distribution board | 1 | $15.00 | $15.00 | drive.google.com ↗ | |
| Tabs for distribution board | 2 | $0.21 | $0.42 | digikey.com ↗ | |
| Dewalt 20V powerstack battery 1.7Ah | 2 | $50.00 | $100.00 | a.co ↗ | |
| PS5 Wireless Controller | 1 | $75.00 | $75.00 | a.co ↗ | |
| [Optional] Ear servos | 2 | $6.00 | $12.00 | adafruit.com ↗ | |
| [Optional] Wireless keyboard | 1 | $28.00 | $28.00 | a.co ↗ | |
| Actuation | |||||
| Steadywin GIM4305 with SHS driver | 12 | $110.00 | $1,320.00 | aifitlab.com ↗ | |
| Tools | |||||
| Super glue | 1 | $4.00 | $4.00 | amazon.com ↗ | |
| Electric screwdriver | 1 | $36.00 | $36.00 | a.co ↗ | |
| Total | $2,158.91 | ||||
Optional items, tools and reference items (not counted)
| Part | Model / spec | Qty | Unit | Subtotal | Supplier |
|---|---|---|---|---|---|
| 3D printed - Body | |||||
| Upper body | Material PETG; infill 0.15; supports On build plate - Tree (auto); walls 3.0; layer 0.3m… | 1 | drive.google.com ↗ | ||
| Lower body | Material PETG; infill 0.15; supports N; walls 3.0; layer 0.3mm; nozzle 0.6mm | 1 | drive.google.com ↗ | ||
| Brain bracket | Material PETG; infill 0.15; supports On build plate - Tree (auto); walls 3.0; layer 0.3m… | 1 | drive.google.com ↗ | ||
| Power distribution board cover | Material PETG; infill 0.15; supports N; walls 3.0; layer 0.3mm; nozzle 0.6mm | 1 | drive.google.com ↗ | ||
| Ear - RH | Material PETG; infill 0.1; supports N; walls 2.0; layer 0.3mm; nozzle 0.6mm | 1 | drive.google.com ↗ | ||
| Ear - LH | Material PETG; infill 0.1; supports N; walls 2.0; layer 0.3mm; nozzle 0.6mm | 1 | drive.google.com ↗ | ||
| Front cable clamp - RH & LH | Material PETG; infill 0.15; supports N; walls 3.0; layer 0.3mm; nozzle 0.6mm | 1 | drive.google.com ↗ | ||
| Back cable clamp | Material PETG; infill 0.15; supports N; walls 3.0; layer 0.3mm; nozzle 0.6mm | 2 | drive.google.com ↗ | ||
| Strap | Material TPU; infill 1.0; supports N; walls 20.0; layer 0.3mm; nozzle 0.6mm | 1 | drive.google.com ↗ | ||
| 3D printed - Legs | |||||
| Lower leg - RH | Material PETG; infill 0.15; supports N; walls 3.0; layer 0.3mm; nozzle 0.6mm | 2 | drive.google.com ↗ | ||
| Lower leg - LH | Material PETG; infill 0.15; supports N; walls 3.0; layer 0.3mm; nozzle 0.6mm | 2 | drive.google.com ↗ | ||
| Upper leg - RH | Material PETG; infill 0.15; supports On build plate - Tree (auto); walls 3.0; layer 0.3m… | 2 | drive.google.com ↗ | ||
| Upper leg - LH | Material PETG; infill 0.15; supports On build plate - Tree (auto); walls 3.0; layer 0.3m… | 2 | drive.google.com ↗ | ||
| Upper leg motor bracket RH & LH | Material PETG; infill 0.15; supports N; walls 3.0; layer 0.3mm; nozzle 0.6mm | 2 | drive.google.com ↗ | ||
| Hip shroud - RH & LH | Material PETG; infill 0.15; supports N; walls 3.0; layer 0.3mm; nozzle 0.6mm | 4 | drive.google.com ↗ | ||
| Hip bracket - RH | Material PETG; infill 0.15; supports On build plate - Tree (auto, hybrid); walls 3.0; la… | 2 | drive.google.com ↗ | ||
| Hip bracket - LH | Material PETG; infill 0.15; supports On build plate - Tree (auto, hybrid); walls 3.0; la… | 2 | drive.google.com ↗ | ||
| 3D printed - Stand | |||||
| [Optional] Stand | Material PETG; infill 0.15; supports N; walls 3.0; layer 0.3mm; nozzle 0.6mm | 1 | |||
| Cables | |||||
| 12" JST ZH pre-crimped cable | 24 | digikey.com ↗ | |||
| 8" JST ZH pre-crimped cable | 24 | digikey.com ↗ | |||
| 6" JST ZH pre-crimped cable | 34 | digikey.com ↗ | |||
| 6pin JST ZH housing | 24 | digikey.com ↗ | |||
| 10pin JST ZH cable | 1 | a.co ↗ | |||
| 10mm cable wrap braided sleeving | 12 | ||||
| Total | $2,158.91 | ||||
3D printing & fabrication
- PETG for the structure (Bambu PETG HF recommended), TPU for the strap.
- 0.3 mm layers with a 0.6 mm nozzle; most parts 15% infill and 3 walls, ears 10%, TPU strap 100%.
- Upper body, brain bracket and thighs need tree supports; press in M2.5 heat-set inserts at 250 °C before assembly.
- 17 STL files in total (v3.5), linked from the official BOM.
CAD, code & papers
Get the large files — CAD, STL, STEP and code — straight from the original project:
- Documentation ↗pupper-v3-documentation.readthedocs.io
- Code: pupperv3-monorepo ↗github.com
- Docs source ↗github.com
- Official BOM (Google Sheets) ↗docs.google.com
- Assembly slides ↗docs.google.com
- CAD (Onshape) ↗cad.onshape.com
- Stanford news story ↗news.stanford.edu
- Demo video ↗youtube.com
License
Code (pupperv3-monorepo) GPL v3; documentation repository AGPL v3; the hardware (CAD / STL / PCB) has no separately stated license.
Image credits
- Image 1: Stanford Pupper / Hands-On Robotics (Nathan Kau 等) · docs AGPL-3.0, photo not separately licensed — source ↗
- Image 2: Stanford Pupper / Hands-On Robotics (Nathan Kau 等) · docs AGPL-3.0, photo not separately licensed — source ↗
- Image 3: Stanford Pupper / Hands-On Robotics (Nathan Kau 等) · docs AGPL-3.0, photo not separately licensed — source ↗
- Image 4: Stanford Pupper / Hands-On Robotics (Nathan Kau 等) · docs AGPL-3.0, photo not separately licensed — source ↗
- Image 5: Stanford Pupper / Hands-On Robotics (Nathan Kau 等) · docs AGPL-3.0, photo not separately licensed
- Image 6: Stanford Pupper / Hands-On Robotics (Nathan Kau 等) · docs AGPL-3.0, photo not separately licensed
Source: Images and data: Stanford Pupper V3 documentation and BOM (Hands-On Robotics / Stanford Student Robotics). Code GPL v3, docs AGPL v3. This site is not affiliated with Stanford University or the original project.
Show original text (中文)
项目概况
Pupper V3 是一只“会带来快乐、也能教你机器人和 AI”的机器狗。行走策略在仿真中用强化学习训练，鼻子里的鱼眼相机负责视觉，配合语音大模型可以对话。
它的关节是 Steadywin GIM4305 无刷电机加 10:1 行星减速，机身全部用 PETG 打印，绑带用 TPU。官方提供完整的 BOM、装配幻灯片、两块电路板的生产文件和全部代码。
关键参数
| 执行器 | Steadywin GIM4305（4005 无刷 + 10:1 行星），峰值约 3.5 N·m，持续约 1.0 N·m |
|---|---|
| 主控 | Raspberry Pi 5 8GB + 自研 Pi Hat（STM32） |
| 传感器 | BNO086 IMU、IMX296 222° 鱼眼相机、麦克风 |
| 交互 | 4 寸 LCD 表情屏、3 W 喇叭、2 个耳朵舵机 |
| 电池 | DeWalt 20V Powerstack 1.7Ah |
物料清单 BOM
合计 USD 2,158.91（官方 BOM v3.5，含可选件和工具；最低约 USD 1,785.91）。打印件等无单独价格的条目见下方折叠表。
下载整理版 BOM（.xlsx） · 官方 BOM 原表 ↗
| 零件 | 型号 / 规格 | 数量 | 单价 | 小计 | 购买链接 |
|---|---|---|---|---|---|
| Stand | |||||
| M2.5x25 socket head | 4 | $1.00 | $4.00 | mcmaster.com ↗ | |
| Hardware | |||||
| PETG HF 1.75mm for structure | 1 | $20.00 | $20.00 | us.store.bambulab.com ↗ | |
| M2.5x10 socket head | 100 | $0.07 | $7.00 | mcmaster.com ↗ | |
| M2.5 heat-set tapered threaded insert | 100 | $0.17 | $17.00 | mcmaster.com ↗ | |
| M3x8 cap head | 50 | $0.08 | $4.00 | mcmaster.com ↗ | |
| Squash ball single or double yellow dot | 4 | $3.75 | $15.00 | amazon.com ↗ | |
| [Optional] Caution hot surface label | 1 | $10.00 | $10.00 | a.co ↗ | |
| [Optional] Stand base plate | 1 | $80.00 | $80.00 | drive.google.com ↗ | |
| Brain electronics | |||||
| 4x4in Waveshare HDMI Raspberry Pi screen | 1 | $75.99 | $75.99 | a.co ↗ | |
| Rasberry Pi 5 8gb | 1 | $80.00 | $80.00 | digikey.com ↗ | |
| USB Flash drive 128 gb | 1 | $14.00 | $14.00 | a.co ↗ | |
| 2x20 female header extension | 1 | $2.50 | $2.50 | adafruit.com ↗ | |
| Pi hat control board | 1 | $60.00 | $60.00 | drive.google.com ↗ | |
| [Optional] AI kit | 1 | $70.00 | $70.00 | canakit.com ↗ | |
| [Optional] M.2 adapter board for AI kit | 1 | $13.00 | $13.00 | waveshare.com ↗ | |
| [Optional] Arducam IMX296 | 1 | $62.00 | $62.00 | a.co ↗ | |
| [Optional] Fisheye lens | 1 | $15.00 | $15.00 | uctronics.com ↗ | |
| [Optional] Lens holder | 1 | $3.00 | $3.00 | uctronics.com ↗ | |
| [Optional] Wireless lapel microphone usb | 1 | $12.00 | $12.00 | a.co ↗ | |
| [Optional] Speaker | 1 | $4.00 | $4.00 | adafruit.com ↗ | |
| Other electronics | |||||
| Power distribution board | 1 | $15.00 | $15.00 | drive.google.com ↗ | |
| Tabs for distribution board | 2 | $0.21 | $0.42 | digikey.com ↗ | |
| Dewalt 20V powerstack battery 1.7Ah | 2 | $50.00 | $100.00 | a.co ↗ | |
| PS5 Wireless Controller | 1 | $75.00 | $75.00 | a.co ↗ | |
| [Optional] Ear servos | 2 | $6.00 | $12.00 | adafruit.com ↗ | |
| [Optional] Wireless keyboard | 1 | $28.00 | $28.00 | a.co ↗ | |
| Actuation | |||||
| Steadywin GIM4305 with SHS driver | 12 | $110.00 | $1,320.00 | aifitlab.com ↗ | |
| Tools | |||||
| Super glue | 1 | $4.00 | $4.00 | amazon.com ↗ | |
| Electric screwdriver | 1 | $36.00 | $36.00 | a.co ↗ | |
| 合计 | $2,158.91 | ||||
可选件、工具与参考条目（不计入合计）
| 零件 | 型号 / 规格 | 数量 | 单价 | 小计 | 购买链接 |
|---|---|---|---|---|---|
| 3D printed - Body | |||||
| Upper body | 材料 PETG；填充 0.15；支撑 On build plate - Tree (auto)；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 1 | drive.google.com ↗ | ||
| Lower body | 材料 PETG；填充 0.15；支撑 N；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 1 | drive.google.com ↗ | ||
| Brain bracket | 材料 PETG；填充 0.15；支撑 On build plate - Tree (auto)；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 1 | drive.google.com ↗ | ||
| Power distribution board cover | 材料 PETG；填充 0.15；支撑 N；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 1 | drive.google.com ↗ | ||
| Ear - RH | 材料 PETG；填充 0.1；支撑 N；墙 2.0；层高 0.3mm；喷嘴 0.6mm | 1 | drive.google.com ↗ | ||
| Ear - LH | 材料 PETG；填充 0.1；支撑 N；墙 2.0；层高 0.3mm；喷嘴 0.6mm | 1 | drive.google.com ↗ | ||
| Front cable clamp - RH & LH | 材料 PETG；填充 0.15；支撑 N；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 1 | drive.google.com ↗ | ||
| Back cable clamp | 材料 PETG；填充 0.15；支撑 N；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 2 | drive.google.com ↗ | ||
| Strap | 材料 TPU；填充 1.0；支撑 N；墙 20.0；层高 0.3mm；喷嘴 0.6mm | 1 | drive.google.com ↗ | ||
| 3D printed - Legs | |||||
| Lower leg - RH | 材料 PETG；填充 0.15；支撑 N；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 2 | drive.google.com ↗ | ||
| Lower leg - LH | 材料 PETG；填充 0.15；支撑 N；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 2 | drive.google.com ↗ | ||
| Upper leg - RH | 材料 PETG；填充 0.15；支撑 On build plate - Tree (auto)；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 2 | drive.google.com ↗ | ||
| Upper leg - LH | 材料 PETG；填充 0.15；支撑 On build plate - Tree (auto)；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 2 | drive.google.com ↗ | ||
| Upper leg motor bracket RH & LH | 材料 PETG；填充 0.15；支撑 N；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 2 | drive.google.com ↗ | ||
| Hip shroud - RH & LH | 材料 PETG；填充 0.15；支撑 N；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 4 | drive.google.com ↗ | ||
| Hip bracket - RH | 材料 PETG；填充 0.15；支撑 On build plate - Tree (auto, hybrid)；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 2 | drive.google.com ↗ | ||
| Hip bracket - LH | 材料 PETG；填充 0.15；支撑 On build plate - Tree (auto, hybrid)；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 2 | drive.google.com ↗ | ||
| 3D printed - Stand | |||||
| [Optional] Stand | 材料 PETG；填充 0.15；支撑 N；墙 3.0；层高 0.3mm；喷嘴 0.6mm | 1 | |||
| Cables | |||||
| 12" JST ZH pre-crimped cable | 24 | digikey.com ↗ | |||
| 8" JST ZH pre-crimped cable | 24 | digikey.com ↗ | |||
| 6" JST ZH pre-crimped cable | 34 | digikey.com ↗ | |||
| 6pin JST ZH housing | 24 | digikey.com ↗ | |||
| 10pin JST ZH cable | 1 | a.co ↗ | |||
| 10mm cable wrap braided sleeving | 12 | ||||
| 合计 | $2,158.91 | ||||
3D 打印与制造
- 结构件 PETG（官方推荐 Bambu PETG HF），绑带 TPU。
- 层高 0.3 mm、喷嘴 0.6 mm；多数零件 15% 填充、3 圈墙；耳朵 10%，TPU 绑带 100%。
- 上机身、主板支架、大腿需要树状支撑；装配前用 250 °C 烙铁压入 M2.5 热熔螺母。
- 共 17 个 STL（v3.5），链接在官方 BOM 里。
图纸、程序与论文
大文件（CAD、STL、STEP、代码仓库）请直接从原项目获取：
- 官方文档 ↗pupper-v3-documentation.readthedocs.io
- 代码仓库 pupperv3-monorepo ↗github.com
- 文档源码 ↗github.com
- 官方 BOM（Google 表格） ↗docs.google.com
- 装配说明（幻灯片） ↗docs.google.com
- CAD（Onshape） ↗cad.onshape.com
- 斯坦福新闻报道 ↗news.stanford.edu
- 演示视频 ↗youtube.com
开源协议
代码（pupperv3-monorepo）GPL v3；文档仓库 AGPL v3；硬件（CAD / STL / PCB）官方没有单独声明许可。
图片来源与授权
- 图 1：Stanford Pupper / Hands-On Robotics（Nathan Kau 等） · 文档 AGPL-3.0，照片未单独声明 — 来源 ↗
- 图 2：Stanford Pupper / Hands-On Robotics（Nathan Kau 等） · 文档 AGPL-3.0，照片未单独声明 — 来源 ↗
- 图 3：Stanford Pupper / Hands-On Robotics（Nathan Kau 等） · 文档 AGPL-3.0，照片未单独声明 — 来源 ↗
- 图 4：Stanford Pupper / Hands-On Robotics（Nathan Kau 等） · 文档 AGPL-3.0，照片未单独声明 — 来源 ↗
- 图 5：Stanford Pupper / Hands-On Robotics（Nathan Kau 等） · 文档 AGPL-3.0，照片未单独声明
- 图 6：Stanford Pupper / Hands-On Robotics（Nathan Kau 等） · 文档 AGPL-3.0，照片未单独声明
Get the parts
Where to get the parts
Every line in the BOM links to the supplier the original team used. Need help sourcing parts or 3D-printing the structure? Tell us which robot you are building.
02 — Related robots
