stanfordroboticsclub/StanfordQuadruped

Health v2 · maintenance only

Flags: no_releases

Adoption not part of the score

1783 stars · 671 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

Stanford Quadruped hosts the Python control software for Stanford Pupper and Woofer, Raspberry Pi-based open-source quadruped robots that can trot, walk, and jump. It implements a control loop with joystick input over UDP, a gait/stance/swing controller with inverse kinematics, and PWM-based servo hardware interfacing via pigpiod.

Use cases

• build a low-cost open-source quadruped robot
• control a four-legged robot with a PS4 controller
• learn robot gait scheduling and inverse kinematics
• run a trot or walk locomotion controller on Raspberry Pi
• study servo-based robot leg control with PWM
• use a joystick to command robot states like trot, walk, and rest

When to choose

• you are building the Stanford Pupper or Woofer hardware kit
• you want an educational, well-documented quadruped codebase to study
• you need a simple Python control loop for servo-driven legged robots

When to avoid

• you need active maintenance or support - the project is end-of-life
• you want reinforcement-learning locomotion out of the box - wait for Pupper v3
• you need a general-purpose robot middleware rather than a specific quadruped controller

Facets

library · maturity abandoned

robotics simulation embedded robotics hardware education python embedded quadruped-robot raspberry-pi gait-controller inverse-kinematics joystick-control pupper end-of-life linux

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markdown · JSON · MCP: product_card(name="stanfordroboticsclub/StanfordQuadruped")