Görsel: Stanford Pupper / Hands-On Robotics (Nathan Kau 等) · docs AGPL-3.0, photo not separately licensed
Açık kaynak Dört ayaklılar
Stanford Pupper V3
Stanford'un CS 123: 12 fırçasız eklemlerinde, Raspberry Pi 5'te, RL eğitimli yürüme, ses ve görmede kullanılan, Stanford Öğrenci Robotics'ten açık kaynaklı bir yardımcı robot köpek - yapımı yaklaşık 2.000 ABD Doları.
- Tür
- Dört ayaklı
- DoF
- 12 (+2 kulak servosu)
- Ağırlık
- 3 kg
- Boyut
- 25 × 20 × 22 cm (çömelmiş)
- Malzeme Listesi maliyeti
- ≈ 2.158,91 ABD Doları (v3.5)
- Yapı
- PETG + TPU baskılar
- Donanımı açın ve kodu açın
- Tedarikçi bağlantılarını içeren tam malzeme listesi
- Orijinal CAD, kod ve belgelere doğrudan bağlantılar
01 — Proje ayrıntıları
Özet, BOM ve kaynaklar
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
Kaynak: Görüntüler ve veriler: Stanford Pupper V3 belgeleri ve BOM (Uygulamalı Robotik / Stanford Öğrenci Robotikleri). Kod GPL v3, belgeler AGPL v3. Bu sitenin Stanford Üniversitesi veya orijinal proje ile bağlantısı yoktur.
Parçaları al
Parçaları nereden alabilirim
Malzeme Listesindeki her satır orijinal ekibin kullandığı tedarikçiye bağlanır. Parça tedarik etme veya yapıyı 3D yazdırma konusunda yardıma mı ihtiyacınız var? Bize hangi robotu yaptığınızı söyleyin.
02 — İlgili robotlar
Daha fazla açık kaynak robot
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