{ "schema": "cad-agent-references/1", "built": "2026-11-04T22:52:31-08:00", "revision": "3a4ec137a2a7cf52fa6072b5bc81b7e320d49701", "area": { "slug": "walking", "title": "Walking", "domain": "mechanical", "scope": "Legged mechanisms, from linkage legs to gaits." }, "fields": { "status": "`source`: read, with a dated `verified` note, and may be cited. `catalogued`: listed from a survey and not yet read; never cite one", "kind": "what the source is (research/references/vocab.yaml `kind`); a read source from before schema 2 has none", "evidence_class": "its rung on the evidence ladder, lowest first: snippet-only, read, verified-at-source, encoded, measured", "confidence": "#143: {level, estimate, sources}, derived from the evidence; `unknown` when the record has no evidence block", "licence": "{spdx, class, read, note}: `read: false` means the licence text was not read, only stated by the survey", "placed": "the docs/areas.yaml areas the record is listed in (`unplaced` when its areas match none)", "placed_note": "its row on the site, which [ref:] in any page links to, is /references/#", "vocab": "every coded value is explained in research/references/vocab.yaml" }, "index": "https://cad-agent.valpatel.com/catalog/references/index.json", "count": 67, "coverage": [], "records": [ {"id":"geez0x1-2025-cycloidal-drive-antibacklash","kind":"project","category":"simulation-and-control","title":"2025-cycloidal-drive-antibacklash","authors":[],"org":"geez0x1","year":null,"url":"https://github.com/geez0x1/2025-cycloidal-drive-antibacklash","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"CC-BY-SA-4.0","class":"share-alike","read":false,"note":"The map states 'CC-BY-SA-4.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking","motion-and-dynamics"],"domains":["legged"],"process_groups":["print","sheet"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"CAD files and testing/analysis code for our 2025 paper \"Anti-Backlash Mechanisms for Cycloidal Drive Robotic Actuators: Design and Evaluation\", by","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"print","docs":"guide","activity":"slow","role":"context","cad":{"seen":"U"},"answers":{"engine":"Not a simulation; CAD plus Python test and analysis scripts","real":"Test setup CAD and scripts shipped; results are in the paper, not README"},"caveat":"Cycloidal gearbox paper repo, not a wheel-leg model; README gives no numbers itself.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"ee761185df33c657","status":"catalogued","evidence_class":"snippet-only","placed":["walking","motion-and-dynamics"],"source_file":"research/references/projects-legged.yaml"}, {"id":"aaedmusa-3d-printed-robot-dog","kind":"project","category":"robots","title":"3D-Printed-Robot-Dog","authors":[],"org":"aaedmusa","year":null,"url":"https://github.com/aaedmusa/3D-Printed-Robot-Dog","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"CC0-1.0","class":"open","read":false,"note":"The map states 'CC0-1.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"This is a 12 DOF 3D printed quadrupedal robot that I designed. It uses 12 servo motors, a Polulu maestro","assessment":{"built":"unknown","supply":"commodity","cost":"unknown","make":"print","docs":"unknown","activity":"dormant","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"12 servo motors per note; cost unknown","ctrl":"unknown","limit":"unknown"},"caveat":"README is missing, so nothing beyond the repository note is verified.","assessed":{"date":"2026-11-02","from":"note-only"}},"used_for":[],"imported":"aeb04903e1e75caa","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"r976-3dpblbr","kind":"project","category":"robots","title":"3DPBLBR","authors":[],"org":"r976","year":null,"url":"https://github.com/r976/3DPBLBR","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Open-source 3D-printable bipedal balancing robot","assessment":{"built":"works","supply":"commodity","cost":"100to500","make":"print","docs":"guide","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"size":"unknown","act":"MG996R, DS3218, DS3320 hobby servos; price not stated","ctrl":"Code not described; print files and BOM linked","limit":"Work in progress; major revisions expected"},"caveat":"Prototype only; one YouTube video, no numbers.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"591633423aca7690","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"andretosi-argo","kind":"project","category":"robots","title":"Argo","authors":[],"org":"andretosi","year":null,"url":"https://github.com/andretosi/Argo","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"This project is an open-source version of a robot dog, complete with an advanced training environment and custom controller logic.","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"basic","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"Plans a Unitree; custom STM32G431 FDCAN motor controllers mentioned","ctrl":"Open PyBullet/MuJoCo envs and PPO training","limit":"Hardware acquisition subject to approval and funding"},"caveat":"README describes simulation tooling and a team plan; no built robot is shown, and hardware is pending funding.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"57f7a1d5505b15b3","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"menloresearch-asimov-1","kind":"project","category":"robots","title":"asimov-1","authors":[],"org":"menloresearch","year":null,"url":"https://github.com/menloresearch/asimov-1","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"CERN-OHL-S-2.0","class":"share-alike","read":false,"note":"The map states 'CERN-OHL-S-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["pcb"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"v1 of Asimov, an open-source humanoid robot","assessment":{"built":"product","supply":"scarce","cost":"over2000","make":"machined","docs":"full","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"size":"1.2 m, 35 kg, 25 DOF, 5 kg rated arm load","act":"Custom actuators; DIY kit $20,000","ctrl":"MuJoCo sim and onboard software open; locomotion policy pending","limit":"Locomotion policy and Asimov Edge listed as upcoming"},"caveat":"Locomotion policy still marked as upcoming; specs are claimed, not measured.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"700649e046a894ef","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"menloresearch-asimov-v0","kind":"project","category":"robots","title":"asimov-v0","authors":[],"org":"menloresearch","year":null,"url":"https://github.com/menloresearch/asimov-v0","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"CERN-OHL-S-2.0","class":"share-alike","read":false,"note":"The map states 'CERN-OHL-S-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"v0 of Asimov, an open-source humanoid robot","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"print+cut","docs":"basic","activity":"slow","role":"reference","cad":{"seen":"U"},"answers":{"size":"Legs only; 12 DOF, peak torque 36-120 Nm per joint","act":"Encos EC-A series actuators; price not stated","ctrl":"Sim model folder present; control code not described","limit":"unknown"},"caveat":"Torque numbers are table values with no test method; legs only, superseded by v1.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"54f9fe8b08e4adc4","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"jenslajordmunk-autinydane","kind":"project","category":"robots","title":"AUTinyDane","authors":[],"org":"JensLajordMunk","year":null,"url":"https://github.com/JensLajordMunk/AUTinyDane","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print","sheet"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"AUTinyDane is an open-source, 3D-printed quadruped robotic dog running entirely on a Raspberry Pi. It features a pure Python software","assessment":{"built":"works","supply":"commodity","cost":"unknown","make":"print+cut","docs":"basic","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"12 hobby servos on PCA9685 boards; cost not stated","ctrl":"Open Python stack; no sim model","limit":"Open-loop gait; dependencies Raspberry Pi specific"},"caveat":"Walking shown only by video link; no speed, payload or stability numbers.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"d152faba40391bf0","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"bcn3d-bcn3d-moveo","kind":"project","category":"robots","title":"BCN3D-Moveo","authors":[],"org":"BCN3D","year":null,"url":"https://github.com/BCN3D/BCN3D-Moveo","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Open Source 3D Printed Robotic Arm for educational purposes","assessment":{"built":"replicated","supply":"commodity","cost":"unknown","make":"print+cut","docs":"full","activity":"dormant","role":"reference","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"Not stated in README; BOM in repo","ctrl":"Arduino firmware in repo","limit":"Not stated"},"caveat":"Arm for education; README gives no payload or accuracy numbers.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"d1d3545a2959df92","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"hybridrobotics-berkeley-humanoid-lite","kind":"project","category":"robots","title":"Berkeley Humanoid Lite","authors":[],"org":"HybridRobotics","year":null,"url":"https://github.com/HybridRobotics/berkeley-humanoid-lite","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print","sheet"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Printed cycloidal actuators, under $5,000. Assets in a separate CC-BY-SA repo.","assessment":{"built":"replicated","supply":"commodity","cost":"unknown","make":"print","docs":"full","activity":"slow","role":"leader","cad":{"seen":"U"},"answers":{"size":"Sub-$5,000 humanoid; mass not stated","act":"Modular 3D-printed cycloidal gearboxes; price not stated","ctrl":"Isaac Lab tasks, URDF, MJCF, USD and lowlevel code open","limit":"Not stated in README"},"caveat":"README is a pointer page; hardware detail, BOM and build steps live in external docs.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"3c0587ca0f22f4fa","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"berkeley-humanoid-lite-rss-2025","kind":"paper","category":"design-guides","title":"Berkeley Humanoid Lite (RSS 2025)","authors":[],"org":"arxiv.org","year":null,"url":"https://arxiv.org/pdf/2504.17249","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'paper'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"none"},"areas":["walking"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Printed cycloidal actuators; limitations stated.","used_for":[],"imported":"8c72a8ca04fec8bd","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"berkeley-humanoids-berkeley-humanoid-lite-arm","kind":"project","category":"robots","title":"berkeley-humanoid-lite-arm","authors":[],"org":"berkeley-humanoids","year":null,"url":"https://github.com/berkeley-humanoids/berkeley-humanoid-lite-arm","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print","cnc"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Lite v1.5: A 3D printed bimanual arm robot platform.","assessment":{"built":"built","supply":"specialty","cost":"unknown","make":"print","docs":"basic","activity":"slow","role":"reference","cad":{"seen":"U"},"answers":{"size":"unknown","act":"RobStride actuators over CAN; cost not stated","ctrl":"Open LeRobot plugins, MuJoCo+Mink IK teleop","limit":"Head and actuator choice still being refined; API unstable"},"caveat":"Under active development with API-breaking changes; head and actuator selection not yet open; no performance data.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"5ba5480a35829afd","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"hybridrobotics-berkeley-humanoid-description","kind":"project","category":"simulation-and-control","title":"berkeley_humanoid_description","authors":[],"org":"HybridRobotics","year":null,"url":"https://github.com/HybridRobotics/berkeley_humanoid_description","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking","motion-and-dynamics"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Description files for the Berkeley Humanoid","assessment":{"built":"concept","supply":"specialty","cost":"unknown","make":"unknown","docs":"basic","activity":"dormant","role":"context","cad":{"seen":"U"},"answers":{"engine":"URDF for ROS/RViz, from Berkeley Humanoid design; no MuJoCo","real":"unknown; README does not say"},"caveat":"ROS1 launch only, a humanoid without wheels, no licence file match and no arm.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"5c7e75efe78da7e3","status":"catalogued","evidence_class":"snippet-only","placed":["walking","motion-and-dynamics"],"source_file":"research/references/projects-legged.yaml"}, {"id":"mekion-the-bimo-project","kind":"project","category":"robots","title":"Bimo","authors":[],"org":"mekion","year":null,"url":"https://github.com/mekion/the-bimo-project","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print","cnc","pcb"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Fully printable biped with a Python API.","assessment":{"built":"product","supply":"commodity","cost":"unknown","make":"print","docs":"guide","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"size":"45 cm tall, about 1.6 kg, 1 kg head payload","act":"8 STS-3215 servos; price not stated","ctrl":"Isaac Lab env, API, firmware and USD open","limit":"Sim-to-real only for forward walking; CAD and DIY manual pending"},"caveat":"Sold as a kit; CAD is marked coming soon and DIY manual is not published yet.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"ab4628cacd46c873","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"kairobyte-bipedal-self-balance","kind":"project","category":"robots","title":"bipedal_self_balance","authors":[],"org":"kairobyte","year":null,"url":"https://github.com/kairobyte/bipedal_self_balance","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print","pcb"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Bipedal self-balancing robot, 2DOF per leg, built from scratch","assessment":{"built":"works","supply":"commodity","cost":"under100","make":"print","docs":"full","activity":"active","role":"lessons","cad":{"seen":"U"},"answers":{"size":"unknown","act":"Stepper wheels, hobby servos legs; price not stated","ctrl":"Firmware, SolidWorks, Gerbers shared","limit":"Balances only a few seconds; servos lag PID output; steppers not recommended"},"caveat":"Balances only for a few seconds; servo legs and stepper wheels.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"2190e92e719fc285","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"psrobotics-bleg","kind":"project","category":"robots","title":"Bleg","authors":[],"org":"psrobotics","year":null,"url":"https://github.com/psrobotics/Bleg","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Open-source, low cost quadruped leg design with BLDC actuator.","assessment":{"built":"works","supply":"scarce","cost":"unknown","make":"needs-pcb-or-winding","docs":"basic","activity":"dormant","role":"reference","cad":{"seen":"U"},"answers":{"size":"unknown","act":"Custom BLDC with reducer, ODrive v3.6; cost not stated","ctrl":"V-rep simulation and Python wrapper in repo","limit":"unknown"},"caveat":"README has no specs or test data; ODrive v3.6 hardware is discontinued.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"5c15b5600300c261","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"ieroboticsailab-botzo","kind":"project","category":"robots","title":"botzo","authors":[],"org":"IERoboticsAILab","year":null,"url":"https://github.com/IERoboticsAILab/botzo","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Build BOTZO your open-source robot dog","assessment":{"built":"concept","supply":"commodity","cost":"100to500","make":"unknown","docs":"basic","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"unknown","limit":"Project under construction"},"caveat":"Under construction; README shows a design image and no hardware evidence.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"39ec857870b10f28","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"hecze-byte-el-perrobot","kind":"project","category":"robots","title":"Byte-el-perrobot","authors":[],"org":"Hecze","year":null,"url":"https://github.com/Hecze/Byte-el-perrobot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Open-source robot dog with 3D-printed parts, customizable hardware, and adaptable software for various applications.","assessment":{"built":"built","supply":"commodity","cost":"unknown","make":"print","docs":"basic","activity":"dormant","role":"context","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"8 SG-5010 servos; cost not stated","ctrl":"Arduino software, openness unclear","limit":"Not stated"},"caveat":"Educational-kit README with photos but no tests, assembly steps or numbers.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"7ae5bfc4a1f02fcb","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"shiyao-huang-chinamicroduck","kind":"project","category":"robots","title":"ChinaMicroDuck","authors":[],"org":"Shiyao-Huang","year":null,"url":"https://github.com/Shiyao-Huang/ChinaMicroDuck","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Microduck (Pollen Robotics × Hugging Face) 国产复刻资料库：四方案可行性/实价询价/官方资产审计/仿真训练验证/打板规格 — China replication project for the open-source biped robot duck","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"none","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"unknown","limit":"unknown"},"caveat":"README is a pointer; its model licence is CC BY-SA-NC, no commercial use.","assessed":{"date":"2026-11-02","from":"note-only"}},"used_for":[],"imported":"4aa3fcea818b542e","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"elggem-dagor-biped-hardware","kind":"project","category":"robots","title":"dagor_biped_hardware","authors":[],"org":"elggem","year":null,"url":"https://github.com/elggem/dagor_biped_hardware","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"BSD-3-Clause","class":"open","read":false,"note":"The map states 'BSD-3-Clause'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print","cnc","inserts","pcb","winding"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Remix of the ODRI Bolt biped.","assessment":{"built":"built","supply":"commodity","cost":"under100","make":"print","docs":"full","activity":"dormant","role":"lessons","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"4004 360kV budget motors, 1:8 belt reduction; cost not stated","ctrl":"Dagor controller based; no sim stated","limit":"HTD belt profile may be worse for backlash; motor pulley needs resin print"},"caveat":"Authors note HTD belt may have worse backlash; 2021 remix with no measured performance data.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"ae903a214e6d3e33","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"reubenstr-electropup","kind":"project","category":"robots","title":"ElectroPup","authors":[],"org":"reubenstr","year":null,"url":"https://github.com/reubenstr/ElectroPup","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print","pcb"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"DIY 3D printed quadruped robot.","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"needs-pcb-or-winding","docs":"guide","activity":"active","role":"leader","cad":{"seen":"U"},"answers":{"size":"4.5 kg, 12 motors, 6S ~72 Wh battery","act":"LingKong MG4010E-i10v3, 2.5 N.m rated, AliExpress; price not stated","ctrl":"Open Python control, MuJoCo model, React UI","limit":"Carbon rods twist at run gait; battery insulation rings forgotten"},"caveat":"Actuators are 2.5 N.m rated class; no measured torque or gait data.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"a293a0c366072bcf","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"zhichengsong6-flores","kind":"project","category":"robots","title":"FLORES","authors":[],"org":"ZhichengSong6","year":null,"url":"https://github.com/ZhichengSong6/FLORES","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print","cnc"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Reconfigured wheel-legged quadrupedal robot for steering","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"machined","docs":"basic","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"size":"unknown","act":"Not stated in text; hardware table is an image","ctrl":"HIM policy, Isaac Gym to MuJoCo, ROS2 deployment described","limit":"Not stated in text"},"caveat":"Little build detail; no licence; hardware list is an image only.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"36d8edcae35b3876","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"mike-tr-hexapod","kind":"project","category":"robots","title":"Hexapod","authors":[],"org":"mike-tr","year":null,"url":"https://github.com/mike-tr/Hexapod","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Custom hexapod robot built from scratch — CAD design, 3D printed, 18 servos, Raspberry Pi 5, ROS2 integration in progress","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"unknown","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"unknown","limit":"unknown"},"caveat":"No README, so only the one-line note supports any claim.","assessed":{"date":"2026-11-02","from":"note-only"}},"used_for":[],"imported":"5fbdbcea38c15b98","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"rookidroid-hexapod","kind":"project","category":"robots","title":"hexapod","authors":[],"org":"rookidroid","year":null,"url":"https://github.com/rookidroid/hexapod","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"GPL-3.0","class":"share-alike","read":false,"note":"The map states 'GPL-3.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"A 3D Printed Hexapod Robot","assessment":{"built":"works","supply":"commodity","cost":"unknown","make":"print","docs":"full","activity":"active","role":"lessons","cad":{"seen":"U"},"answers":{"size":"Leg links 38/54/97 to 62/76/132 mm; 18 DOF","act":"18 servos (21G, MG92B, 25 kg); cost unknown","ctrl":"Open ESP32 firmware and path-tool gait generator","limit":"unknown"},"caveat":"Hexapod servo walker; no speed, payload or reliability numbers in README.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"bedf5c6abac1ddf1","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"robs-tech-workbench-hexapod-spiderbot-model","kind":"project","category":"robots","title":"hexapod_spiderbot_model","authors":[],"org":"robs-tech-workbench","year":null,"url":"https://github.com/robs-tech-workbench/hexapod_spiderbot_model","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"This repository contains STL files, 3D printing instructions, and build documentation for ArachnoBot, a 3D-printed spider robot. Here you'll find","assessment":{"built":"built","supply":"commodity","cost":"unknown","make":"print","docs":"guide","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"unknown","limit":"unknown"},"caveat":"Derived from another hexapod design; no performance evidence or BOM prices in README.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"0778c025e790efc7","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"awrobot-kamerobot","kind":"project","category":"robots","title":"KameRobot","authors":[],"org":"AWROBOT","year":null,"url":"https://github.com/AWROBOT/KameRobot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"KAME Robot - WIFI Controlling 3D Printed 8DOF Quadruped Robot","assessment":{"built":"unknown","supply":"commodity","cost":"unknown","make":"print","docs":"none","activity":"dormant","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"Arduino software said to be open","limit":"unknown"},"caveat":"README is near-empty; claims walking and dancing with no evidence.","assessed":{"date":"2026-11-02","from":"note-only"}},"used_for":[],"imported":"ae21fad7e892a468","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"broboticsinc31-lilbro","kind":"project","category":"robots","title":"LilBro","authors":[],"org":"BroboticsInc31","year":null,"url":"https://github.com/BroboticsInc31/LilBro","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Lil'Bro is a 3D printed, open source quadrupedal robot that allows researchers to duplicate,modify, and create new methods for the","assessment":{"built":"built","supply":"specialty","cost":"unknown","make":"print","docs":"basic","activity":"dormant","role":"lessons","cad":{"seen":"U"},"answers":{"size":"unknown","act":"ODrive-driven motors; types and cost not stated","ctrl":"Python main.py in repo, needs ODrive and numpy","limit":"unknown"},"caveat":"2019 repository; README has no specs, BOM or performance data.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"4a82e6b1838312ee","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"smdhuman-lotprobotdog2","kind":"project","category":"robots","title":"LOTPRobotdog2","authors":[],"org":"SMDHuman","year":null,"url":"https://github.com/SMDHuman/LOTPRobotdog2","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Opensource Modular Robot dog project.","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"none","activity":"archived","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"unknown","limit":"unknown"},"caveat":"README is two lines and a video link; project is archived.","assessed":{"date":"2026-11-02","from":"note-only"}},"used_for":[],"imported":"3816bbc57d7e47f3","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"haraduka-mevita","kind":"project","category":"robots","title":"MEVITA","authors":[],"org":"haraduka","year":null,"url":"https://github.com/haraduka/mevita","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print","sheet"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Biped from sheet metal and e-commerce parts, an alternative to printing.","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"print+cut","docs":"guide","activity":"slow","role":"reference","cad":{"seen":"U"},"answers":{"size":"Not stated in README","act":"CubeMars AK70-10 and AK10-9 in MIT mode; price not stated","ctrl":"legged_gym task, MuJoCo sim and ROS code open","limit":"Not stated; see paper"},"caveat":"Hardware files sit in a Google Drive link; README has no performance numbers or BOM.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"33ba95a92c8205df","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"mangdangroboticsclub-mini-pupper","kind":"project","category":"robots","title":"Mini Pupper","authors":[],"org":"mangdangroboticsclub","year":null,"url":"https://github.com/mangdangroboticsclub/mini_pupper","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["pcb"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Small servo quadruped kit.","assessment":{"built":"product","supply":"specialty","cost":"unknown","make":"buy-and-assemble","docs":"guide","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"Not stated in README","act":"Proprietary 3-DoF coreless servos (MD-300C-150); price not stated","ctrl":"Separate repos for MuJoCo, Isaac RL, ROS 2 and firmware","limit":"Not stated"},"caveat":"Product marketing page; proprietary servos, and performance claims come with no test method.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"73c735388e26a184","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"makerforgetech-modular-biped","kind":"project","category":"robots","title":"modular-biped","authors":[],"org":"makerforgetech","year":null,"url":"https://github.com/makerforgetech/modular-biped","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"GPL-3.0","class":"share-alike","read":false,"note":"The map states 'GPL-3.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"An open source framework for creating a bipedal modular companion robot.","assessment":{"built":"built","supply":"commodity","cost":"unknown","make":"needs-pcb-or-winding","docs":"guide","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"Servos on Arduino via Pi; cost unknown","ctrl":"Open modular Python and C++ software, wiki docs","limit":"unknown"},"caveat":"Companion-robot focus; README has no gait, balance or performance data.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"149d650f4efc607d","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"thmos2025-mos-9-open-source-humanoid-robot","kind":"project","category":"robots","title":"MOS-9-Open-Source-Humanoid-Robot","authors":[],"org":"THMOS2025","year":null,"url":"https://github.com/THMOS2025/MOS-9-Open-Source-Humanoid-Robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"MOS9 open-source humanoid robot hub for RoboCup Kid-Size, connecting hardware, deployment, IPC, policy learning, retargeting, drivers, and simulation.","assessment":{"built":"built","supply":"specialty","cost":"unknown","make":"unknown","docs":"basic","activity":"active","role":"lessons","cad":{"seen":"U"},"answers":{"size":"unknown","act":"Motors via encos-driver repo; types and cost not stated","ctrl":"Open deploy, AMP training and MATLAB simulation repos","limit":"unknown"},"caveat":"Hub only; real content is in sub-repositories not read here.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"dbaf93a7c20b2931","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"adham-elarabawy-open-quadruped","kind":"project","category":"robots","title":"Open Quadruped","authors":[],"org":"adham-elarabawy","year":null,"url":"https://github.com/adham-elarabawy/open-quadruped","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'NOASSERTION'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print","pcb"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"12-DOF printed servo quadruped.","assessment":{"built":"works","supply":"commodity","cost":"unknown","make":"print","docs":"guide","activity":"dormant","role":"lessons","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"12 hobby servos on a custom PCB; cost not stated","ctrl":"ROS, URDF and Gazebo model open","limit":"Pitch and roll in visualiser broken; unit tests and calibration open"},"caveat":"Hobby servos only; sim-to-real calibration and tests are unchecked on the to-do list.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"175d9eb5e97947b5","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"apirrone-open-duck-mini","kind":"project","category":"robots","title":"Open_Duck_Mini","authors":[],"org":"apirrone","year":null,"url":"https://github.com/apirrone/Open_Duck_Mini","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"Apache-2.0","class":"open","read":false,"note":"The map states 'Apache-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Mini open-source bipedal robot, Disney-style duck, printed parts","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"print","docs":"basic","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"size":"About 35 cm tall with legs extended","act":"Dynamixel XC330-M288-T servos; BOM sheet linked, price not stated","ctrl":"Isaac Gym policy via AWD, MuJoCo sim2sim, runtime repo open","limit":"Too much play at some joints; hard to build; no assembly guide"},"caveat":"Alpha with no assembly guide; v2 promised and author advises waiting.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"2a94297309c6a014","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"openarmrobot-openarm","kind":"project","category":"robots","title":"OpenARM","authors":[],"org":"OpenArmRobot","year":null,"url":"https://github.com/OpenArmRobot/OpenARM","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"CERN-OHL-S-2.0","class":"share-alike","read":false,"note":"The map states 'CERN-OHL-S-2.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print","cnc","pcb"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"OpenARM is an open-source remake version 7DOF humanoid arm hardware designed for physical AI research and deployment in many environments.","assessment":{"built":"unknown","supply":"specialty","cost":"unknown","make":"unknown","docs":"basic","activity":"active","role":"lessons","cad":{"seen":"U"},"answers":{"size":"unknown","act":"Damiao, RobStride or HCFA joint motors; cost unknown","ctrl":"unknown","limit":"unknown"},"caveat":"README is a menu of variants; no photos, specs or test results.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"bbea7d1ef2bb6680","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"fedecomi04-opensource-spinal-quadruped","kind":"project","category":"robots","title":"opensource-spinal-quadruped","authors":[],"org":"fedecomi04","year":null,"url":"https://github.com/fedecomi04/opensource-spinal-quadruped","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print","sheet"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"9.5 kg quadruped with a 3-DoF active spine. Thesis project.","assessment":{"built":"works","supply":"specialty","cost":"500to2000","make":"print+cut","docs":"full","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"size":"9.5 kg, 565 x 287 x 435 mm; payload not stated","act":"15 Damiao DM6006/DM4010 over CAN-FD; about EUR 1,500 total","ctrl":"MuJoCo model, ROS 2 and STM32 firmware open","limit":"4 cm/s open-loop trot; controller for over 1 m/s not yet added"},"caveat":"Single thesis build; walks only 4 cm/s with open-loop trot and motors must be sourced.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"c0993d29b0d7c915","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"t33devv-pegasus","kind":"project","category":"robots","title":"pegasus","authors":[],"org":"t33devv","year":null,"url":"https://github.com/t33devv/pegasus","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Pegasus is an affordable, fully 3D-printable, 100% open source quadruped robot dog. Powered by the Pimoroni Servo2040, 12 MG996Rs and","assessment":{"built":"built","supply":"commodity","cost":"unknown","make":"print","docs":"guide","activity":"active","role":"lessons","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"12 MG996R-class servos on a Servo2040; cost in PARTS_LIST.csv","ctrl":"MicroPython/Arduino code in repo","limit":"Not stated"},"caveat":"No walking evidence or performance numbers in the README; cost only in a linked parts CSV.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"5bea3262e7024eba","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"plenprojectcompany-plen2","kind":"project","category":"robots","title":"PLEN2","authors":[],"org":"plenprojectcompany","year":null,"url":"https://github.com/plenprojectcompany/PLEN2","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print","pcb"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"The world's first printable open-source humanoid, starter kit.","assessment":{"built":"product","supply":"specialty","cost":"unknown","make":"print","docs":"guide","activity":"dormant","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"Servo motors and proprietary control boards, cost unknown","ctrl":"Open Arduino firmware, ControlServer and motion editor","limit":"unknown"},"caveat":"Small servo humanoid; README states no specs or performance, and licence is missing.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"63d8b62ee4f007f1","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"poppy-project-poppy-ergo-jr","kind":"project","category":"robots","title":"poppy-ergo-jr","authors":[],"org":"poppy-project","year":null,"url":"https://github.com/poppy-project/poppy-ergo-jr","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"🤖 Poppy Ergo Jr is an open-source robotic arm based on modular 3D printed conception and low-cost XL-320 motors.","assessment":{"built":"replicated","supply":"commodity","cost":"unknown","make":"print","docs":"full","activity":"dormant","role":"lessons","cad":{"seen":"U"},"answers":{"size":"Small desktop arm, size not stated","act":"Dynamixel XL-320 servos; cost not stated","ctrl":"Open Python library and Raspberry Pi image","limit":"Not stated"},"caveat":"Low-cost hobby servos; no torque or accuracy figures and repo untouched since 2022.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"0414ae18b5415c0e","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"poppy-project-poppy-humanoid","kind":"project","category":"robots","title":"poppy-humanoid","authors":[],"org":"poppy-project","year":null,"url":"https://github.com/poppy-project/poppy-humanoid","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Poppy Humanoid is an open-source and 3D printed humanoid robot. Optimized for research and education purposes, its modularity allows for","assessment":{"built":"replicated","supply":"specialty","cost":"over2000","make":"print","docs":"full","activity":"dormant","role":"reference","cad":{"seen":"U"},"answers":{"size":"Humanoid, 25 actuators; mass not stated","act":"25 Robotis Dynamixel, about 60% of $8000-9000","ctrl":"Poppy software GPL, pip-installable","limit":"unknown"},"caveat":"Old design (last push 2021) on expensive Dynamixels.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"b2f299515cc59375","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"ponnala6435-primo","kind":"project","category":"robots","title":"primo","authors":[],"org":"ponnala6435","year":null,"url":"https://github.com/ponnala6435/primo","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'NOASSERTION'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Build an open-source 3D-printed humanoid robot with 30 DoF, Jetson AGX Thor, and Isaac Lab simulation.","assessment":{"built":"concept","supply":"specialty","cost":"unknown","make":"print","docs":"none","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"Planned about 120 cm, 15 kg, 30 DoF","act":"RobStride QDD actuators, sold separately; cost not stated","ctrl":"Not shown; Isaac Lab planned","limit":"Design phase; everything else planned"},"caveat":"README is a promotional download page pointing to an external site, with unrelated topics; treat as suspect.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"e51a49f9f1b5a51e","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"alessiopagliai-primo","kind":"project","category":"robots","title":"Primo humanoid","authors":[],"org":"AlessioPagliai","year":null,"url":"https://github.com/AlessioPagliai/primo","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"CC0-1.0","class":"open","read":false,"note":"The map states 'CC0-1.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"30 RobStride actuators (RS00 to RS06). STL, a 30-joint URDF, BOM and an Onshape link. Still in design, not built. Motor-selection notes in docs.","assessment":{"built":"concept","supply":"specialty","cost":"over2000","make":"print","docs":"full","activity":"active","role":"reference","cad":{"seen":"V"},"answers":{"size":"1.40 m, 33 kg purchased, about 45 kg finished","act":"30 RobStride QDD (RS04 x6); about EUR 30,000 total","ctrl":"URDF, Isaac Lab task and trained policy open","limit":"Nothing built; hip yaw motor undecided; ankle torque map unverified"},"caveat":"Nothing built yet; walking policy exists only in sim, and STL files are not print-validated.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"25a4e77745ac8d6d","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"r9kawai-printpupper","kind":"project","category":"robots","title":"PrintPupper","authors":[],"org":"r9kawai","year":null,"url":"https://github.com/r9kawai/PrintPupper","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print","pcb"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"PrintPupper is open source DIY quadruped robot, composition are 3D printed and common cheaper parts only.","assessment":{"built":"works","supply":"commodity","cost":"unknown","make":"needs-pcb-or-winding","docs":"guide","activity":"active","role":"lessons","cad":{"seen":"U"},"answers":{"size":"unknown","act":"12 joints; actuator type and cost not stated","ctrl":"Open code via GitHub, Raspberry Pi based","limit":"unknown"},"caveat":"40-minute walk time has no stated method; cost is only called inexpensive.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"9d01f4c8aa59f674","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"nate711-pupperv3-monorepo","kind":"project","category":"robots","title":"Pupper v3 monorepo","authors":[],"org":"Nate711","year":null,"url":"https://github.com/Nate711/pupperv3-monorepo","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"GPL-3.0","class":"share-alike","read":false,"note":"The map states 'GPL-3.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Current Stanford Pupper line.","assessment":{"built":"replicated","supply":"specialty","cost":"unknown","make":"print+cut","docs":"basic","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"size":"Not stated here","act":"Not stated here; Doggo README gives GIM4305 and about $1000 BOM","ctrl":"ROS 2 workspace, neural controller and sim launch open","limit":"Not stated"},"caveat":"README is software-only; hardware and build guide are on a separate docs site not provided.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"a5f3a6427c326433","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"q8bot-five-bar-miniature-quadruped","kind":"paper","category":"design-guides","title":"Q8bot: five-bar miniature quadruped","authors":[],"org":"arxiv.org","year":null,"url":"https://arxiv.org/pdf/2508.01149","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'paper'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"none"},"areas":["walking"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Five-bar leg tip geometry lessons.","used_for":[],"imported":"1fb6ec2abdaf48c8","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"mkme-quadrupedal-robot","kind":"project","category":"robots","title":"quadrupedal-robot","authors":[],"org":"MKme","year":null,"url":"https://github.com/MKme/quadrupedal-robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"SpotMicro quadrupedal 3D printed robot project","assessment":{"built":"built","supply":"commodity","cost":"unknown","make":"print","docs":"guide","activity":"dormant","role":"context","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"6 DS3218 20 kg servos listed; no prices","ctrl":"Not stated in README","limit":"Not stated"},"caveat":"Builder log with no measurements; BOM table has empty rows; affiliate links.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"4314372328e86ea5","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"samueladamus-robo-dog","kind":"project","category":"robots","title":"robo-dog","authors":[],"org":"samueladamus","year":null,"url":"https://github.com/samueladamus/robo-dog","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Open-source robotic dog project which anyone can print and assemble. It has its own GUI through which it can programmed","assessment":{"built":"built","supply":"commodity","cost":"unknown","make":"print","docs":"basic","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"400 g of PETG for the body","act":"12 servos at 20, 25 and 35 kg; cost not stated","ctrl":"Firmware and PyQt6 GUI in repo","limit":"Not stated"},"caveat":"Parts list only; no photos, test results or assembly guide in the README.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"712b05283a3d9f93","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"lain-ego0-robocon-brs-robot","kind":"project","category":"robots","title":"ROBOCON-BRS_robot","authors":[],"org":"Lain-Ego0","year":null,"url":"https://github.com/Lain-Ego0/ROBOCON-BRS_robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"The parallel quadruped robot dog with a miniature-like structure, which uses joint motors from Unitree Technology, will have its control","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"unknown","docs":"basic","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"size":"unknown","act":"Unitree joint motors; cost unknown","ctrl":"Repo has STM32 firmware and ROS host; open status unclear","limit":"unknown"},"caveat":"No licence; README says control and vision software open later.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"d07c804f3305c9f5","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"punkfab-robot-actuators","kind":"project","category":"simulation-and-control","title":"robot-actuators","authors":[],"org":"punkfab","year":null,"url":"https://github.com/punkfab/robot-actuators","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking","motion-and-dynamics"],"domains":["legged"],"process_groups":["print","pcb","winding"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Simulate-first robot actuator R&D: parametric miniature cycloidal drive (build123d) wired end-to-end into a MuJoCo testbench. v1 = 10:1 for a","assessment":{"built":"concept","supply":"specialty","cost":"unknown","make":"print","docs":"full","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"engine":"MuJoCo plus analytical models; geometry from build123d CAD parameters","real":"Mostly not; some friction models fitted from logs (sts3215), pcb-motor calibrated"},"caveat":"Author says most designs are unbuilt; models are simulation-first and mostly unvalidated on hardware.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"f618f76bfbea3e0c","status":"catalogued","evidence_class":"snippet-only","placed":["walking","motion-and-dynamics"],"source_file":"research/references/projects-legged.yaml"}, {"id":"uzzwarr-rocky-quadropod-with-ai","kind":"project","category":"robots","title":"Rocky-Quadropod-With-AI","authors":[],"org":"uzzwarr","year":null,"url":"https://github.com/uzzwarr/Rocky-Quadropod-With-AI","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Rocky is an open-source, 3D-printed quadruped robotics platform designed to bridge the gap between mechanical engineering and advanced Artificial Intelligence.","assessment":{"built":"unknown","supply":"commodity","cost":"under100","make":"print","docs":"guide","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"8 MG90S servos, about 20 dollars total","ctrl":"Open ESP32 firmware and Python voice app","limit":"Educational prototype; locomotion only, not a certified demining device"},"caveat":"Single-day repo with no photos or test evidence; README only demonstrates locomotion and says so.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"c50244a78bf4dc67","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"wei1224hf-rufengrobot","kind":"project","category":"robots","title":"RuFengRobot","authors":[],"org":"wei1224hf","year":null,"url":"https://github.com/wei1224hf/RuFengRobot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Cheap robot using MIT-mini Cheetah's actuator. As the actuator is being massive production in China , it is possible to","assessment":{"built":"unknown","supply":"specialty","cost":"unknown","make":"unknown","docs":"none","activity":"dormant","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"MIT mini Cheetah style actuator; cost not stated","ctrl":"unknown","limit":"unknown"},"caveat":"README is two lines; no evidence of a built robot.","assessed":{"date":"2026-11-02","from":"note-only"}},"used_for":[],"imported":"928f4dc4cf0685c1","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"shaheenbharwani-sim2real-3d-printed-quadruped","kind":"project","category":"robots","title":"sim2real-3d-printed-quadruped","authors":[],"org":"shaheenbharwani","year":null,"url":"https://github.com/shaheenbharwani/sim2real-3d-printed-quadruped","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Complete sim-to-real AI quadruped robot: Isaac Lab training → ROS2 → physical hardware","assessment":{"built":"built","supply":"commodity","cost":"unknown","make":"print","docs":"basic","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"12 MG996R servos, 6 V supply; cost not stated","ctrl":"Open Isaac Lab, ROS2 and URDF","limit":"Not stated; only future work listed"},"caveat":"Success claims such as stable operation have no video or data in the README; seems LLM-written.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"55ac7b59bae6bfe8","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"roboninecom-so-arm100-101-102-parallel-gripper","kind":"project","category":"robots","title":"SO-ARM100-101-102-Parallel-Gripper","authors":[],"org":"roboninecom","year":null,"url":"https://github.com/roboninecom/SO-ARM100-101-102-Parallel-Gripper","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"CC-BY-4.0","class":"open","read":false,"note":"The map states 'CC-BY-4.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print","inserts"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Open-source 3D-printed parallel gripper for SO-ARM100, SO-100, SO-ARM101, SO-101, SO-ARM-102 robot arms. Feetech STS3215, 84 mm stroke, camera mounts, STL","assessment":{"built":"product","supply":"commodity","cost":"under100","make":"print","docs":"guide","activity":"active","role":"lessons","cad":{"seen":"U"},"answers":{"size":"170 g, 128x130.5x109 mm, 120 N grip stated","act":"Feetech STS3215 servo, about $29","ctrl":"Software, examples and simulation folders, Apache-2.0","limit":"unknown"},"caveat":"Gripper only; force and speed figures have no stated test method.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"a2d311cd7b3b983d","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"rkourdis-solo12-mujoco","kind":"project","category":"simulation-and-control","title":"solo12_mujoco","authors":[],"org":"rkourdis","year":null,"url":"https://github.com/rkourdis/solo12_mujoco","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking","motion-and-dynamics"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Actuator-faithful Solo12 model.","assessment":{"built":"concept","supply":"unknown","cost":"unknown","make":"unknown","docs":"basic","activity":"dormant","role":"reference","cad":{"seen":"U"},"answers":{"engine":"MuJoCo; from robot_properties_solo URDF and SRDF","real":"unknown"},"caveat":"Quadruped; no validation against hardware stated.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"dbfe9e8f0e772f40","status":"catalogued","evidence_class":"snippet-only","placed":["walking","motion-and-dynamics"],"source_file":"research/references/projects-legged.yaml"}, {"id":"mike4192-spotmicro","kind":"project","category":"robots","title":"SpotMicro (mike4192)","authors":[],"org":"mike4192","year":null,"url":"https://github.com/mike4192/spotMicro","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Servo quadruped software baseline.","assessment":{"built":"works","supply":"commodity","cost":"100to500","make":"print","docs":"guide","activity":"dormant","role":"lessons","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"12 PDI-HV5523MG servos via PCA9685; cost not stated","ctrl":"Full ROS C++ and Python code and URDF open","limit":"Software may not build outside Ubuntu 16.04 and ROS Kinetic"},"caveat":"Dated ROS Kinetic and Ubuntu 16.04 only; hobby servo scale; no performance numbers.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"70049946426003aa","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"michaelkubina-spotmicroesp32","kind":"project","category":"robots","title":"SpotMicroESP32","authors":[],"org":"michaelkubina","year":null,"url":"https://github.com/michaelkubina/SpotMicroESP32","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"GPL-3.0","class":"share-alike","read":false,"note":"The map states 'GPL-3.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print","pcb"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Support-free-print redesign of SpotMicro.","assessment":{"built":"built","supply":"commodity","cost":"100to500","make":"print","docs":"guide","activity":"slow","role":"context","cad":{"seen":"U"},"answers":{"size":"Not stated","act":"Hobby servos with ESP32-DevKitC; price estimates per part","ctrl":"No own firmware; points to other repos","limit":"Lacks whole programming part; no walking gait implemented"},"caveat":"Work in progress with no firmware or walking gait of its own; hobby servo scale.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"31c76a780a670ec6","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"nate711-stanforddoggoproject","kind":"project","category":"robots","title":"Stanford Doggo","authors":[],"org":"Nate711","year":null,"url":"https://github.com/Nate711/StanfordDoggoProject","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print","sheet","cnc"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Quasi-direct-drive quadruped with five-bar-style legs. Fusion 360 model is an external download. Superseded by Pupper v3.","assessment":{"built":"replicated","supply":"specialty","cost":"unknown","make":"print+cut","docs":"guide","activity":"dormant","role":"leader","cad":{"seen":"F"},"answers":{"size":"Under 5 kg; heavy loads not expected","act":"Eight T-Motor MN5212 with ODrive controllers; cost unknown","ctrl":"Teensy code and ODrive fork open; no sim model stated","limit":"Not for heavy loads or aggressive terrain; coaxial mechanism most troublesome part"},"caveat":"End-of-life since 2024; CAD is an external Fusion download and the BOM is a work in progress.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"63193048dab0a681","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"yuexuan9-tinker","kind":"project","category":"robots","title":"Tinker biped","authors":[],"org":"Yuexuan9","year":null,"url":"https://github.com/Yuexuan9/Tinker","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"AGPL-3.0","class":"share-alike","read":false,"note":"The map states 'AGPL-3.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Small open research biped.","assessment":{"built":"works","supply":"specialty","cost":"unknown","make":"print+cut","docs":"guide","activity":"slow","role":"lessons","cad":{"seen":"U"},"answers":{"size":"1 kg load; mass not stated","act":"Off-the-shelf direct-drive motors; BOM under 20,000 RMB","ctrl":"IsaacGym RL training and URDF stated open","limit":"Battery life not yet measured"},"caveat":"Speed and load numbers lack test method; build guide, BOM and assembly sections look like placeholders.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"6610fb65b37bc78f","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"darrenlevine-tiptap","kind":"project","category":"robots","title":"TipTap","authors":[],"org":"DarrenLevine","year":null,"url":"https://github.com/DarrenLevine/TipTap","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print","pcb"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"A 3d-printed bipedal robot. A low-cost desktop option for semi-direct drive walking research.","assessment":{"built":"built","supply":"scarce","cost":"unknown","make":"needs-pcb-or-winding","docs":"guide","activity":"dormant","role":"reference","cad":{"seen":"U"},"answers":{"size":"unknown","act":"4 custom TipTap motors plus MG92B servos; cost unknown","ctrl":"Open: pybullet sim and identical hardware API","limit":"unknown"},"caveat":"Needs custom TipTap motors and PCBs; README shows no walking data.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"97d712c4a3188a46","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"hshi74-toddlerbot","kind":"project","category":"robots","title":"toddlerbot","authors":[],"org":"hshi74","year":null,"url":"https://github.com/hshi74/toddlerbot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Open-source small humanoid for learning-based locomotion and manipulation","assessment":{"built":"replicated","supply":"specialty","cost":"unknown","make":"print","docs":"guide","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"RL, DP training, deployment code open and pip-installable","limit":"unknown"},"caveat":"README gives no mass, actuator or cost figures in the part read.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"7ef04c0d3e2ac7ba","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"aaedmusa-tops","kind":"project","category":"robots","title":"TOPS","authors":[],"org":"aaedmusa","year":null,"url":"https://github.com/aaedmusa/TOPS","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"TOPS (Traverser of Planar Surfaces) or \"SPOT\" backwards is a 3D printed Open Source quadrupedal robot","assessment":{"built":"built","supply":"specialty","cost":"over2000","make":"print+cut","docs":"basic","activity":"dormant","role":"reference","cad":{"seen":"U"},"answers":{"size":"13.43 kg total, 4.53 kg printed; 12 DOF","act":"12 custom QDD, 9:1 planetary, ODrive S1; total build $3,300","ctrl":"Not stated in README","limit":"unknown"},"caveat":"Specs list only mass and cost; no torque, gait or failure data in README.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"53a65111a5b69291","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"waveshare-wavego","kind":"project","category":"robots","title":"WAVEGO","authors":[],"org":"waveshare","year":null,"url":"https://github.com/waveshare/WAVEGO","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"unknown"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"WAVEGO, An Open Source Bionic Dog-Like Robot Powered By ESP32 & Raspberry Pi.","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"none","activity":"dormant","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"unknown","limit":"unknown"},"caveat":"README is a single line; no evidence of any kind.","assessed":{"date":"2026-11-02","from":"note-only"}},"used_for":[],"imported":"559efc7f15e81ee1","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"waveshareteam-wavego-pro","kind":"project","category":"robots","title":"WAVEGO_Pro","authors":[],"org":"waveshareteam","year":null,"url":"https://github.com/waveshareteam/WAVEGO_Pro","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"GPL-3.0","class":"share-alike","read":false,"note":"The map states 'GPL-3.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"WAVEGO, 12-DOF Bionic Dog-Like Robot, Open Source for ESP32 and Raspberry Pi, Facial Recognition, Color Tracking, Motion Detection","assessment":{"built":"built","supply":"specialty","cost":"unknown","make":"buy-and-assemble","docs":"basic","activity":"slow","role":"context","cad":{"seen":"U"},"answers":{"size":"12 DOF; 2.3 kg.cm bus servos","act":"Bus servos with feedback, 2.3 kg.cm; cost unknown","ctrl":"Open Flask web app and ESP32 firmware","limit":"unknown"},"caveat":"README covers software install only; no build files or gait data.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"c262198ff43df234","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"cuboileo-xuanwu-bipedal-robot","kind":"project","category":"robots","title":"Xuanwu-bipedal-robot","authors":[],"org":"CuboiLeo","year":null,"url":"https://github.com/CuboiLeo/Xuanwu-bipedal-robot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":null,"class":"unclear","read":false,"note":"The map states 'none stated'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"open-source bipedal robot project","assessment":{"built":"unknown","supply":"unknown","cost":"unknown","make":"unknown","docs":"basic","activity":"slow","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"unknown","ctrl":"unknown","limit":"unknown"},"caveat":"Top-level README is a pointer only; the bipedal robot itself is not described.","assessed":{"date":"2026-11-02","from":"note-only"}},"used_for":[],"imported":"f4e0d06b1716ccf9","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"jerome-graves-yertle","kind":"project","category":"robots","title":"yertle","authors":[],"org":"Jerome-Graves","year":null,"url":"https://github.com/Jerome-Graves/yertle","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"claimed"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"A 3D Printed Quadrupedal Robot for Locomotion Research. :turtle:","assessment":{"built":"works","supply":"commodity","cost":"100to500","make":"print","docs":"guide","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"size":"1.8 kg, about 20 cm leg extension, 12 DOF","act":"Hobby servos; whole robot about 250 GBP","ctrl":"Open: ESP32 firmware, URDF, PyBullet, Isaac Lab, ROS 2","limit":"Policy not yet deployed to hardware; Kangal legs have limited range"},"caveat":"Trained policy is not yet deployed on the physical robot; actuator model unidentified.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"ddf813212f13dd78","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"justin-riekehof-zeroth-01-build","kind":"project","category":"robots","title":"zeroth-01-build","authors":[],"org":"Justin-Riekehof","year":null,"url":"https://github.com/Justin-Riekehof/zeroth-01-build","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print","cnc","inserts"],"evidence":{"class":"snippet-only","numbers":"measured"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"Build log & software for the K-Scale Zeroth-01, a 3D-printed open-source humanoid — Feetech servo control (STS3215/3250), C++/Python tooling, MuJoCo/ksim","assessment":{"built":"works","supply":"commodity","cost":"unknown","make":"print","docs":"full","activity":"active","role":"reference","cad":{"seen":"U"},"answers":{"size":"About 40 cm tall, 2.5-2.6 kg","act":"Feetech STS3215/STS3250 serial servos; cost not stated","ctrl":"Open MuJoCo model, training and Pi deploy code","limit":"Policies fell in 1 s; servo speed limit; torn hip bracket"},"caveat":"Humanoid only does taught-in demos; every trained walking policy fell within about 1 s on hardware.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"ea8450258fea3f7d","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"zeroth-robotics-zeroth-bot","kind":"project","category":"robots","title":"zeroth-bot","authors":[],"org":"zeroth-robotics","year":null,"url":"https://github.com/zeroth-robotics/zeroth-bot","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"MIT","class":"open","read":false,"note":"The map states 'MIT'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"adapt-with-attribution"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"3D-printed open-source humanoid robot platform for sim-to-real and RL","assessment":{"built":"built","supply":"commodity","cost":"100to500","make":"print","docs":"guide","activity":"slow","role":"reference","cad":{"seen":"U"},"answers":{"size":"unknown","act":"Feetech servos; BoM from $350 stated","ctrl":"Open: KOS-ZBot SDK, ksim-gym RL, MJCF and URDF","limit":"Public beta, breaking changes expected"},"caveat":"Public beta; README gives no walking evidence and warns of breaking changes.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":"6c19131453e63452","status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"}, {"id":"javierih-zowi","kind":"project","category":"robots","title":"zowi","authors":[],"org":"JavierIH","year":null,"url":"https://github.com/JavierIH/zowi","access":"free","terms":"cited and summarised, never copied","licence":{"spdx":"CC-BY-SA-4.0","class":"share-alike","read":false,"note":"The map states 'CC-BY-SA-4.0'; the licence text was not read."},"reuse":{"text":"cite-only","geometry":"study-only"},"areas":["walking"],"domains":["legged"],"process_groups":["print"],"evidence":{"class":"snippet-only","numbers":"none"},"confidence":{"level":"low","estimate":0.4,"sources":1},"summary":"An open-source and fully hackable biped robot.","assessment":{"built":"replicated","supply":"commodity","cost":"unknown","make":"print","docs":"guide","activity":"active","role":"context","cad":{"seen":"U"},"answers":{"size":"unknown","act":"4 Futaba 3003 or compatible servos; cost unknown","ctrl":"Open firmware, URDF, Isaac Lab and ROS 2 bridge","limit":"unknown"},"caveat":"Tiny 4-servo biped toy; README has no performance data.","assessed":{"date":"2026-11-02","from":"readme"}},"used_for":[],"imported":null,"status":"catalogued","evidence_class":"snippet-only","placed":["walking"],"source_file":"research/references/projects-legged.yaml"} ] }