Hardware●●Solid
Cubic Doggo, a Open-Source 12-DOF 4-Legged Robot Based on ROS2
Complete ROS2 Jazzy quadruped build log with manually coded walk gait and turning.
Niche GemCozy
SphericalCowww
612mo ago
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Cubic Doggo with IMU
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Cubic Doggo 06R: 12-DOF 4-Legged Robot with IMU
by SphericalCowww·Jul 25, 2026·2 points·0 comments
AI Analysis
●●SolidWizardryBold Bet
PID-tuned IMU balance lets it walk down steps without falling over.
Strengths
- •Mechanical reinforcements prevent joint breakage on high-impact landings.
- •Spring-like compliant feet reduce wobbling during dynamic movement.
- •Open CAD files and ROS integration enable community iteration.
Weaknesses
- •IMU system cannot yet support the high-lift mode mechanically.
- •No simulation or reinforcement learning implemented yet.
Category
Target Audience
Robotics hobbyists and DIY makers
Similar To
Stanford Pupper · Mini Cheetah · Bittle
Post Description
This repo is an upgrade to my previous project, Cubic Doggo: https://github.com/SphericalCowww/CubicDoggo
It has since implemented an IMU and several mechanical reinforcements. The next step will be simulation and reinforcement learning.
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