Cubic Doggo, a Open-Source 12-DOF 4-Legged Robot Based on ROS2

Name: Cubic Doggo, a Open-Source 12-DOF 4-Legged Robot Based on ROS2
Availability: InStock
Author: SphericalCowww

by SphericalCowww·May 18, 2026·6 points·1 comment

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AI Analysis

●●SolidNiche GemCozy

Complete ROS2 Jazzy quadruped build log with manually coded walk gait and turning.

Strengths

•Detailed bill of materials with specific Dynamixel servo models and power hub configurations.
•Manually coded gait implementation provides a transparent baseline for RL training later.
•FreeCAD files included for customizing leg geometry and center of mass adjustments.

Weaknesses

•Lacks IMU integration, limiting immediate applicability for reinforcement learning tasks.
•Intermediate price point and assembly complexity restrict audience to dedicated hobbyists.

Post Description

This is a recipe for building intermediate-priced robot dog from scratch with all commercial/3D-printed parts, controlled by Rasp Pi 5 and ROS2 Jazzy. A manually coded walk gait is implemented so far, which can be controlled by a controller to move forward or change directions. It does not yet have an IMU required for RL training; however, I believe it's one of the simplest design out there available for multiple development paths.