Cubic Doggo 06R: 12-DOF 4-Legged Robot with IMU
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.
What it does
Cubic Doggo 06R High Mobility, with mechanical improvements and IMU balancing - SphericalCowww/CubicDoggo_06R
Does a similar job
all alternatives →- CDCubic Doggo, a Open-Source 12-DOF 4-Legged Robot Based on ROS2May 2026 · github.com · ▲6
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.
- SMShoggoth Mini – A soft tentacle robot powered by GPT-4o and RL2025 · matthieulc.com · ▲610
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