# stanfordroboticsclub/StanfordQuadruped

Repository: https://github.com/stanfordroboticsclub/StanfordQuadruped
Canonical: https://ross.abutalabs.com/products/stanfordquadruped
Language: Python
License: MIT
License Family: permissive
Last push: 2024-10-24T01:56:53+00:00

## Health v2 (maintenance only)
Score: 32/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 0, release rhythm 35, longevity 100
- inputs: {"age_days": 2410, "days_push": 679, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 1783, forks 671 (observed 2026-08-28T04:05:35.781165+00:00)

## What it is
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
- artifact type: library
- maturity: abandoned
- function: robotics, simulation, embedded
- domain: robotics, hardware, education
- platform: python, embedded
- tags: quadruped-robot, raspberry-pi, gait-controller, inverse-kinematics, joystick-control, pupper, end-of-life, linux

## Member repositories
- stanfordroboticsclub/StanfordQuadruped (main) score 32

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:05:35.781165+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T03:24:19.652383+00:00, confidence not recorded.
  - readme: https://github.com/stanfordroboticsclub/StanfordQuadruped (fetched 2026-08-28T04:05:35.781165+00:00, sha 527a0efbb8fa)
- Data as of 2026-08-30T08:39:29.467469+00:00.