开源 四足机器人
Stanford Pupper V3 机器狗
源自斯坦福学生机器人俱乐部、用于斯坦福 CS 123 课程的开源小型四足陪伴机器狗：12 个无刷关节、树莓派 5，强化学习行走，支持语音和视觉交互，自己做约 2,000 美元。
- 类型
- 四足
- 自由度
- 12（+2 耳朵舵机）
- 重量
- 3 kg
- 尺寸
- 25 × 20 × 22 cm（蹲姿）
- 物料成本
- 约 2,159 美元（v3.5）
- 结构
- PETG + TPU 打印件
- 开源硬件与开源代码
- 完整物料清单，附购买链接
- 直达原项目的图纸、代码和论文
01 — 项目详情
概况、物料清单与资料
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 | ||
| 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
来源：图片与资料来源：Stanford Pupper V3 官方文档与 BOM（Hands-On Robotics / Stanford Student Robotics）。代码 GPL v3，文档 AGPL v3。本站与斯坦福大学及原项目无隶属关系。
显示原文 (English)
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
获取零件
去哪里买零件
物料清单里的每一项都附有原团队使用的购买链接。需要帮忙采购零件或代打 3D 打印件？告诉我们你在做哪一台机器人。
02 — 相关机器人
