Micro Dog
A 0.96 kg quadruped with a parallelogram four-bar knee, driven by 12 Dynamixel servos.
Project documentation
Before you build
Five answers, each linked to its source
What does it cost?
Not documented
No cost in the reviewed sources.
Can I sell what I build?
NoNon-commercial hardware
Hardware CC BY-NC-SA 4.0 · Software GPL-3.0-or-later. Licensing source
What’s open?
3 of 6CAD: AvailableBOM: Not documentedPCB: Not documentedCode: AvailableSim: AvailableGuide: Not documented
BOM, PCB, guide not documented. All six files
What does it run on?
Is it maintained?
Active
Latest activity Sep 24, 2026 · main repo last commit Sep 24, 2026 · 9 commits in the last 52 weeks · 1 contributors Activity
01 / Under the shell
The specifications.
Hardware, build and software on one sheet. Every fact links to where we found it.
Micro Dog is a 0.96 kg, 12-DOF quadruped driven by 12 Dynamixel XL330-M288-T servos. Its knee uses a parallelogram four-bar, and the robot is built around a Raspberry Pi Zero 2 W. The repository provides Autodesk Inventor source, a STEP export and a trained walking policy.
Hardware
- Actuators
- 12 · Dynamixel XL330-M288-T servos README
- Build
- Mixed · PLA-printed parts, TPU feet, and 6061 aluminium pushrod link Documentation
- Mass
- 0.960 kg README
- Size
- 334.5 × 165.5 × 145.2 mm (assembly pose) README
- Degrees of freedom
- 12 README
- Compute
- Raspberry Pi Zero 2 W with a Pollen Robotics RPI Robot HAT README
- Leg lengths
- Thigh 95.0 mm; shank 97.0 mm README
Building it
02 / The files behind the robot
What’s open.
Six parts of the build, each checked separately. Gaps stay visible.
| Part | Status | What’s there | License | Source |
|---|---|---|---|---|
| CAD | Available | Autodesk Inventor source and a neutral STEP assembly export. | Not documented | inventor/ |
| Bill of materials | Not documented | Not documented | Not documented | No source found |
| Electronics | Not documented | Not documented | Not documented | No source found |
| Code | Available | Scripts for generating the URDF and deriving parameters from Inventor data. | Not documented | tools/ |
| Simulation model | Available | URDF model and flattened USD asset for Isaac Sim / Isaac Lab. | Not documented | micro_dog.urdf |
| Assembly guide | Not documented | Not documented | Not documented | No source found |
03 / Know before you build
Can you sell it?
NoNon-commercial hardware
The design files are CC BY-NC-SA 4.0, which restricts them to non-commercial use. Selling robots or parts made from the design needs the maker’s permission. Changes you distribute must be shared under the same license. The code is GPL-3.0-or-later.
- Hardware
- CC BY-NC-SA 4.0
- Software
- GPL-3.0-or-later
04 / The upstream project
Is it maintained?
ActiveLatest activity Sep 24, 2026, 36 days before the snapshot
The main repository’s last commit was Sep 24, 2026.
- Stars
- 9
- Forks
- 0
- Contributors
- 1
- Latest release
- None recorded
Snapshot captured Oct 30, 2026. Recorded figures, not live metrics. Active: activity within 90 days of the snapshot. Quiet: within a year. Dormant: longer.
05 / Parts & kits
A head start.
Maker-listed sellers only. No affiliate links or paid placement.
MAKER’S COST
Not documented
No cost in the reviewed sources.
Kit availability is not documented in our reviewed sources.
06 / Side by side
Compare with other quadrupeds.
Other quadrupeds in the directory, most recently active first. Same sources, same rules.
| Robot | Cost | Open files | Can I sell it? | Runs on | Maintained | Stars |
|---|---|---|---|---|---|---|
| Micro DogThis robotmoieboy9999 | Not documented | 3 of 6 | NoHW CC BY-NC-SA 4.0 · SW GPL-3.0-or-later | IsaacPyBulletMuJoCo | ActiveSep 24, 2026 | 9 |
| Spot Micro - LeikaRune Harlyk | Not documented | 4 of 6 | YesHW MIT · SW MIT License | ESP32MuJoCo | ActiveOct 29, 2026 | 92 |
| Physical AntOpenmind-Research-Institute | $2,230.61BOM total | 4 of 6 | YesHW MIT · SW MIT | PythonMuJoCo | ActiveOct 29, 2026 | 76 |
| SesameDorian Todd | Not documented | 6 of 6 | YesHW Apache-2.0 · SW Apache-2.0 | ESP32ArduinoPython | ActiveOct 15, 2026 | 4,876 |
| This robotMicro Dog | Spot Micro - Leika | Physical Ant |
|---|---|---|
| Cost | ||
| Not documented | Not documented | $2,230.61 |
| Can I sell it? | ||
| No | Yes | Yes |
| Open files | ||
| 3 of 6 | 4 of 6 | 4 of 6 |
| Runs on | ||
| Isaac, PyBullet, MuJoCo, Python, Raspberry Pi | ESP32, MuJoCo | Python, MuJoCo |
| Maintained | ||
| ActiveSep 24, 2026 | ActiveOct 29, 2026 | ActiveOct 29, 2026 |
Upkeep is measured against each robot’s own snapshot. Costs keep the maker’s scope, so check what each figure covers.
See them in the table07 / Follow the evidence
Open books.
Repository files are pinned to commit 68373f9. Websites and papers are listed with their review dates.
- 01README.md at 68373f9Reviewed Oct 30, 2026
- 02LICENSE at 68373f9Reviewed Oct 30, 2026
- 03LICENSE-SOFTWARE at 68373f9Reviewed Oct 30, 2026