画像: Stanford Pupper / Hands-On Robotics (Nathan Kau 等) · docs AGPL-3.0, photo not separately licensed
オープンソース 四足動物
Stanford Pupper V 3
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.
- タイプ
- 四足動物
- DoF
- 12 (+2 耳サーボ)
- 重量
- 3kg
- サイズ
- 25×20×22cm（しゃがんだ状態）
- BOM コスト
- ≈ US$2,158.91 (v3.5)
- 構造
- PETG + TPU プリント
- オープンハードウェアとオープンコード
- サプライヤーリンクを含む完全な部品表
- オリジナルの CAD、コード、論文への直接リンク
01 — プロジェクト詳細
概要・BOM・資料
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 | ||
| 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
出典: 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.
部品を入手
部品の入手先
BOM の各行は、元のチームが使用したサプライヤーにリンクしています。部品の調達や構造の 3D プリントについてサポートが必要ですか?あなたが作っているロボットを教えてください。
02 — 関連ロボット
