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

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.

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Cubic Doggo 06R: 12-DOF 4-Legged Robot with IMUJul 2026 · github.com · ▲6
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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