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wtf is stanfordquadruped?

peng-zhihui/stanfordquadruped — explained in plain English

Analysis updated 2026-07-17 · repo last pushed 2020-07-27

★ 168Audience · researcherComplexity · 4/5DormantSetup · hard

TL;DR

The control software for Stanford Pupper and Woofer, small Raspberry-Pi-powered robot dogs you build yourself and drive with a PS4 controller over Bluetooth.

Mindmap

mindmap
  root((repo))
    What it does
      Controls robot legs
      PS4 controller input
      Walk trot jump
    How it works
      Gait scheduler
      Stance controller
      Swing controller
      Inverse kinematics
    Build it yourself
      Bill of materials
      Assembly guide
      Raspberry Pi
    Audience
      Robotics enthusiasts
      Students
      Makers

Code map

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Why would anyone build with this?

REASON 1

Build a physical Stanford Pupper or Woofer robot dog from the included parts list and assembly guide.

REASON 2

Drive the finished robot's walking, trotting, and turning using a PS4 controller over Bluetooth.

REASON 3

Modify the gait scheduler to experiment with new walking patterns or control strategies.

What's in the stack?

PythonRaspberry Pi

How it stacks up

peng-zhihui/stanfordquadrupedtsukamg/polymarket-weather-trading-engine2b2tplace/1m_release
Stars168168167
Language—TypeScript—
Last pushed2020-07-27——
MaintenanceDormant——
Setup difficultyhardmoderatehard
Complexity4/54/51/5
Audienceresearcherdevelopergeneral

Figures from each repo's GitHub metadata at analysis time.

How do you spin it up?

Difficulty · hard Time to first run · 1day+

Requires assembling physical hardware (motors, frame, Raspberry Pi) before any code can run.

Yoink these prompts

Prompt 1
Explain how the gait scheduler decides which legs push and which legs swing forward at any moment.
Prompt 2
Walk me through the bill of materials and assembly steps needed to build a Stanford Pupper.
Prompt 3
How does inverse kinematics in this code translate a desired foot position into motor joint angles?
Prompt 4
Show me how the PS4 controller input over Bluetooth gets turned into leg movement commands on the Raspberry Pi.

Frequently asked questions

wtf is stanfordquadruped?

The control software for Stanford Pupper and Woofer, small Raspberry-Pi-powered robot dogs you build yourself and drive with a PS4 controller over Bluetooth.

Is stanfordquadruped actively maintained?

Dormant — no commits in 2+ years (last push 2020-07-27).

How hard is stanfordquadruped to set up?

Setup difficulty is rated hard, with roughly 1day+ to a first successful run.

Who is stanfordquadruped for?

Mainly researcher.

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