cad-agent.References · Walking in the catalogue · Markdown · JSON
References · Mechanical design
Walking
67 records: 0 read sources that cad-agent's rules and checks may cite, and 67 records catalogued from the Reference Map, not yet read. Legged mechanisms, from linkage legs to gaits.
Catalogued records are search snippets: their numbers are the authors' claims and their licences are as the map states them, unread. Cite one only after reading the source and promoting it (how).
Records
67 records
| Record | Kind | Evidence | Confidence | Licence | Process | Role |
|---|---|---|---|---|---|---|
| 2025-cycloidal-drive-antibacklashgeez0x1 CAD files and testing/analysis code for our 2025 paper "Anti-Backlash Mechanisms for Cycloidal Drive Robotic Actuators: Design and Evaluation", by Cycloidal gearbox paper repo, not a wheel-leg model; README gives no numbers itself. | Open project | snippet only | low 0.4 | CC-BY-SA-4.0not read | 3D printingSheet metal and laser | Context |
| 3D-Printed-Robot-Dogaaedmusa This is a 12 DOF 3D printed quadrupedal robot that I designed. It uses 12 servo motors, a Polulu maestro README is missing, so nothing beyond the repository note is verified. | Open project | snippet only | low 0.4 | openCC0-1.0not read | 3D printing | Context |
| 3DPBLBRr976 Open-source 3D-printable bipedal balancing robot Prototype only; one YouTube video, no numbers. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Lessons |
| Argoandretosi This project is an open-source version of a robot dog, complete with an advanced training environment and custom controller logic. README describes simulation tooling and a team plan; no built robot is shown, and hardware is pending funding. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Context |
| asimov-1menloresearch v1 of Asimov, an open-source humanoid robot Locomotion policy still marked as upcoming; specs are claimed, not measured. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | CERN-OHL-S-2.0not read | PCB and electronics | Reference |
| asimov-v0menloresearch v0 of Asimov, an open-source humanoid robot Torque numbers are table values with no test method; legs only, superseded by v1. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | CERN-OHL-S-2.0not read | 3D printing | Reference |
| AUTinyDaneJensLajordMunk AUTinyDane is an open-source, 3D-printed quadruped robotic dog running entirely on a Raspberry Pi. It features a pure Python software Walking shown only by video link; no speed, payload or stability numbers. | Open project | snippet only | low 0.4 | openMITnot read | 3D printingSheet metal and laser | Lessons |
| BCN3D-MoveoBCN3D Open Source 3D Printed Robotic Arm for educational purposes Arm for education; README gives no payload or accuracy numbers. | Open project | snippet only | low 0.4 | openMITnot read | 3D printing | Reference |
| Berkeley Humanoid LiteHybridRobotics Printed cycloidal actuators, under $5,000. Assets in a separate CC-BY-SA repo. README is a pointer page; hardware detail, BOM and build steps live in external docs. | Open project | snippet only | low 0.4 | openMITnot read | 3D printingSheet metal and laser | Leader |
| Berkeley Humanoid Lite (RSS 2025)arxiv.org Printed cycloidal actuators; limitations stated. | Paper or thesis | snippet only | low 0.4 | licence unclearnot read | none stated | not assessed |
| berkeley-humanoid-lite-armberkeley-humanoids Lite v1.5: A 3D printed bimanual arm robot platform. Under active development with API-breaking changes; head and actuator selection not yet open; no performance data. | Open project | snippet only | low 0.4 | openMITnot read | 3D printingCNC machining | Reference |
| berkeley_humanoid_descriptionHybridRobotics Description files for the Berkeley Humanoid ROS1 launch only, a humanoid without wheels, no licence file match and no arm. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Context |
| Bimomekion Fully printable biped with a Python API. Sold as a kit; CAD is marked coming soon and DIY manual is not published yet. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openApache-2.0not read | 3D printingCNC machiningPCB and electronics | Reference |
| bipedal_self_balancekairobyte Bipedal self-balancing robot, 2DOF per leg, built from scratch Balances only for a few seconds; servo legs and stepper wheels. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printingPCB and electronics | Lessons |
| Blegpsrobotics Open-source, low cost quadruped leg design with BLDC actuator. README has no specs or test data; ODrive v3.6 hardware is discontinued. | Open project | snippet only | low 0.4 | openMITnot read | 3D printing | Reference |
| botzoIERoboticsAILab Build BOTZO your open-source robot dog Under construction; README shows a design image and no hardware evidence. | Open project | snippet only | low 0.4 | openApache-2.0not read | none stated | Context |
| Byte-el-perrobotHecze Open-source robot dog with 3D-printed parts, customizable hardware, and adaptable software for various applications. Educational-kit README with photos but no tests, assembly steps or numbers. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Context |
| ChinaMicroDuckShiyao-Huang 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 README is a pointer; its model licence is CC BY-SA-NC, no commercial use. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Context |
| dagor_biped_hardwareelggem Remix of the ODRI Bolt biped. Authors note HTD belt may have worse backlash; 2021 remix with no measured performance data. | Open project | snippet only | low 0.4 | openBSD-3-Clausenot read | 3D printingCNC machiningInserts and fastenersPCB and electronicsMotor winding | Lessons |
| ElectroPupreubenstr DIY 3D printed quadruped robot. Actuators are 2.5 N.m rated class; no measured torque or gait data. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printingPCB and electronics | Leader |
| FLORESZhichengSong6 Reconfigured wheel-legged quadrupedal robot for steering Little build detail; no licence; hardware list is an image only. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | licence unclearnot read | 3D printingCNC machining | Reference |
| Hexapodmike-tr Custom hexapod robot built from scratch — CAD design, 3D printed, 18 servos, Raspberry Pi 5, ROS2 integration in progress No README, so only the one-line note supports any claim. | Open project | snippet only | low 0.4 | openMITnot read | 3D printing | Context |
| hexapodrookidroid A 3D Printed Hexapod Robot Hexapod servo walker; no speed, payload or reliability numbers in README. | Open project | snippet only | low 0.4 | GPL-3.0not read | 3D printing | Lessons |
| hexapod_spiderbot_modelrobs-tech-workbench This repository contains STL files, 3D printing instructions, and build documentation for ArachnoBot, a 3D-printed spider robot. Here you'll find Derived from another hexapod design; no performance evidence or BOM prices in README. | Open project | snippet only | low 0.4 | openMITnot read | 3D printing | Context |
| KameRobotAWROBOT KAME Robot - WIFI Controlling 3D Printed 8DOF Quadruped Robot README is near-empty; claims walking and dancing with no evidence. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Context |
| LilBroBroboticsInc31 Lil'Bro is a 3D printed, open source quadrupedal robot that allows researchers to duplicate,modify, and create new methods for the 2019 repository; README has no specs, BOM or performance data. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Lessons |
| LOTPRobotdog2SMDHuman Opensource Modular Robot dog project. README is two lines and a video link; project is archived. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Context |
| MEVITAharaduka Biped from sheet metal and e-commerce parts, an alternative to printing. Hardware files sit in a Google Drive link; README has no performance numbers or BOM. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printingSheet metal and laser | Reference |
| Mini Puppermangdangroboticsclub Small servo quadruped kit. Product marketing page; proprietary servos, and performance claims come with no test method. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openApache-2.0not read | PCB and electronics | Context |
| modular-bipedmakerforgetech An open source framework for creating a bipedal modular companion robot. Companion-robot focus; README has no gait, balance or performance data. | Open project | snippet only | low 0.4 | GPL-3.0not read | 3D printing | Context |
| MOS-9-Open-Source-Humanoid-RobotTHMOS2025 MOS9 open-source humanoid robot hub for RoboCup Kid-Size, connecting hardware, deployment, IPC, policy learning, retargeting, drivers, and simulation. Hub only; real content is in sub-repositories not read here. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Lessons |
| Open Quadrupedadham-elarabawy 12-DOF printed servo quadruped. Hobby servos only; sim-to-real calibration and tests are unchecked on the to-do list. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | licence unclearnot read | 3D printingPCB and electronics | Lessons |
| Open_Duck_Miniapirrone Mini open-source bipedal robot, Disney-style duck, printed parts Alpha with no assembly guide; v2 promised and author advises waiting. | Open project | snippet only | low 0.4 | openApache-2.0not read | 3D printing | Lessons |
| OpenARMOpenArmRobot OpenARM is an open-source remake version 7DOF humanoid arm hardware designed for physical AI research and deployment in many environments. README is a menu of variants; no photos, specs or test results. | Open project | snippet only | low 0.4 | CERN-OHL-S-2.0not read | 3D printingCNC machiningPCB and electronics | Lessons |
| opensource-spinal-quadrupedfedecomi04 9.5 kg quadruped with a 3-DoF active spine. Thesis project. Single thesis build; walks only 4 cm/s with open-loop trot and motors must be sourced. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printingSheet metal and laser | Reference |
| pegasust33devv Pegasus is an affordable, fully 3D-printable, 100% open source quadruped robot dog. Powered by the Pimoroni Servo2040, 12 MG996Rs and No walking evidence or performance numbers in the README; cost only in a linked parts CSV. | Open project | snippet only | low 0.4 | openMITnot read | 3D printing | Lessons |
| PLEN2plenprojectcompany The world's first printable open-source humanoid, starter kit. Small servo humanoid; README states no specs or performance, and licence is missing. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printingPCB and electronics | Context |
| poppy-ergo-jrpoppy-project 🤖 Poppy Ergo Jr is an open-source robotic arm based on modular 3D printed conception and low-cost XL-320 motors. Low-cost hobby servos; no torque or accuracy figures and repo untouched since 2022. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Lessons |
| poppy-humanoidpoppy-project Poppy Humanoid is an open-source and 3D printed humanoid robot. Optimized for research and education purposes, its modularity allows for Old design (last push 2021) on expensive Dynamixels. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | licence unclearnot read | 3D printing | Reference |
| primoponnala6435 Build an open-source 3D-printed humanoid robot with 30 DoF, Jetson AGX Thor, and Isaac Lab simulation. README is a promotional download page pointing to an external site, with unrelated topics; treat as suspect. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Context |
| Primo humanoidAlessioPagliai 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. Nothing built yet; walking policy exists only in sim, and STL files are not print-validated. | Open project | snippet only | low 0.4 | openCC0-1.0not read | 3D printing | Reference |
| PrintPupperr9kawai PrintPupper is open source DIY quadruped robot, composition are 3D printed and common cheaper parts only. 40-minute walk time has no stated method; cost is only called inexpensive. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printingPCB and electronics | Lessons |
| Pupper v3 monorepoNate711 Current Stanford Pupper line. README is software-only; hardware and build guide are on a separate docs site not provided. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | GPL-3.0not read | none stated | Reference |
| Q8bot: five-bar miniature quadrupedarxiv.org Five-bar leg tip geometry lessons. | Paper or thesis | snippet only | low 0.4 | licence unclearnot read | none stated | not assessed |
| quadrupedal-robotMKme SpotMicro quadrupedal 3D printed robot project Builder log with no measurements; BOM table has empty rows; affiliate links. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Context |
| robo-dogsamueladamus Open-source robotic dog project which anyone can print and assemble. It has its own GUI through which it can programmed Parts list only; no photos, test results or assembly guide in the README. | Open project | snippet only | low 0.4 | openMITnot read | 3D printing | Context |
| ROBOCON-BRS_robotLain-Ego0 The parallel quadruped robot dog with a miniature-like structure, which uses joint motors from Unitree Technology, will have its control No licence; README says control and vision software open later. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | licence unclearnot read | none stated | Lessons |
| robot-actuatorspunkfab Simulate-first robot actuator R&D: parametric miniature cycloidal drive (build123d) wired end-to-end into a MuJoCo testbench. v1 = 10:1 for a Author says most designs are unbuilt; models are simulation-first and mostly unvalidated on hardware. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printingPCB and electronicsMotor winding | Reference |
| Rocky-Quadropod-With-AIuzzwarr Rocky is an open-source, 3D-printed quadruped robotics platform designed to bridge the gap between mechanical engineering and advanced Artificial Intelligence. Single-day repo with no photos or test evidence; README only demonstrates locomotion and says so. | Open project | snippet only | low 0.4 | openMITnot read | 3D printing | Context |
| RuFengRobotwei1224hf Cheap robot using MIT-mini Cheetah's actuator. As the actuator is being massive production in China , it is possible to README is two lines; no evidence of a built robot. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Context |
| sim2real-3d-printed-quadrupedshaheenbharwani Complete sim-to-real AI quadruped robot: Isaac Lab training → ROS2 → physical hardware Success claims such as stable operation have no video or data in the README; seems LLM-written. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printing | Lessons |
| SO-ARM100-101-102-Parallel-Gripperroboninecom 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 Gripper only; force and speed figures have no stated test method. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openCC-BY-4.0not read | 3D printingInserts and fasteners | Lessons |
| solo12_mujocorkourdis Actuator-faithful Solo12 model. Quadruped; no validation against hardware stated. | Open project | snippet only | low 0.4 | licence unclearnot read | 3D printing | Reference |
| SpotMicro (mike4192)mike4192 Servo quadruped software baseline. Dated ROS Kinetic and Ubuntu 16.04 only; hobby servo scale; no performance numbers. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printing | Lessons |
| SpotMicroESP32michaelkubina Support-free-print redesign of SpotMicro. Work in progress with no firmware or walking gait of its own; hobby servo scale. | Open project | snippet only | low 0.4 | GPL-3.0not read | 3D printingPCB and electronics | Context |
| Stanford DoggoNate711 Quasi-direct-drive quadruped with five-bar-style legs. Fusion 360 model is an external download. Superseded by Pupper v3. End-of-life since 2024; CAD is an external Fusion download and the BOM is a work in progress. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printingSheet metal and laserCNC machining | Leader |
| Tinker bipedYuexuan9 Small open research biped. Speed and load numbers lack test method; build guide, BOM and assembly sections look like placeholders. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | AGPL-3.0not read | 3D printing | Lessons |
| TipTapDarrenLevine A 3d-printed bipedal robot. A low-cost desktop option for semi-direct drive walking research. Needs custom TipTap motors and PCBs; README shows no walking data. | Open project | snippet only | low 0.4 | openMITnot read | 3D printingPCB and electronics | Reference |
| toddlerbothshi74 Open-source small humanoid for learning-based locomotion and manipulation README gives no mass, actuator or cost figures in the part read. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printing | Reference |
| TOPSaaedmusa TOPS (Traverser of Planar Surfaces) or "SPOT" backwards is a 3D printed Open Source quadrupedal robot Specs list only mass and cost; no torque, gait or failure data in README. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | licence unclearnot read | 3D printing | Reference |
| WAVEGOwaveshare WAVEGO, An Open Source Bionic Dog-Like Robot Powered By ESP32 & Raspberry Pi. README is a single line; no evidence of any kind. | Open project | snippet only | low 0.4 | openMITnot read | none stated | Context |
| WAVEGO_Prowaveshareteam WAVEGO, 12-DOF Bionic Dog-Like Robot, Open Source for ESP32 and Raspberry Pi, Facial Recognition, Color Tracking, Motion Detection README covers software install only; no build files or gait data. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | GPL-3.0not read | none stated | Context |
| Xuanwu-bipedal-robotCuboiLeo open-source bipedal robot project Top-level README is a pointer only; the bipedal robot itself is not described. | Open project | snippet only | low 0.4 | licence unclearnot read | none stated | Context |
| yertleJerome-Graves A 3D Printed Quadrupedal Robot for Locomotion Research. :turtle: Trained policy is not yet deployed on the physical robot; actuator model unidentified. | Open project | snippet onlyAuthors' claim: numbers stated, not measured | low 0.4 | openMITnot read | 3D printing | Reference |
| zeroth-01-buildJustin-Riekehof 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 Humanoid only does taught-in demos; every trained walking policy fell within about 1 s on hardware. | Open project | snippet only | low 0.4 | openMITnot read | 3D printingCNC machiningInserts and fasteners | Reference |
| zeroth-botzeroth-robotics 3D-printed open-source humanoid robot platform for sim-to-real and RL Public beta; README gives no walking evidence and warns of breaking changes. | Open project | snippet only | low 0.4 | openMITnot read | 3D printing | Reference |
| zowiJavierIH An open-source and fully hackable biped robot. Tiny 4-servo biped toy; README has no performance data. | Open project | snippet only | low 0.4 | CC-BY-SA-4.0not read | 3D printing | Context |
Role is the survey's judgement of a record within its class (leader, reference, lessons, context): not a quality grade. A single source, a search snippet, or untested judgement is what “low” means.