Pegasus
A quadruped robot dog with four legs, printable CAD files, and 12 servos controlled by a Pimoroni Servo 2040.
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?
YesCommercial use OK
Hardware MIT · Software MIT. Licensing source
What’s open?
3 of 6CAD: AvailableBOM: AvailablePCB: Not documentedCode: AvailableSim: Not documentedGuide: Not documented
PCB, sim, guide not documented. All six files
Is it maintained?
Not documented
No activity snapshot yet. Activity
01 / Under the shell
The specifications.
Hardware, build and software on one sheet. Every fact links to where we found it.
Pegasus is a quadruped robot dog with four legs, each using a parallel five-bar linkage driven by two servos plus a roll servo. Its CAD folder contains .stp files described as directly printable. A Pimoroni Servo 2040 running Pimoroni's MicroPython controls the robot.
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 | .stp files described as directly printable. | Not documented | CAD/ |
| Bill of materials | Available | Parts list with materials, prices, and quantities. | Not documented | PARTS_LIST.csv |
| Electronics | Not documented | Not documented | Not documented | No source found |
| Code | Available | The CODE folder contains code files. | Not documented | CODE/ |
| Simulation model | Not documented | Not documented | Not documented | No source found |
| Assembly guide | Not documented | Not documented | Not documented | No source found |
03 / Know before you build
Can you sell it?
YesCommercial use OK
The whole repository, design files included, is MIT. You can build, modify and sell robots based on it, as long as you keep the license and copyright notices.
- Hardware
- MIT
- Software
- MIT
04 / The upstream project
Is it maintained?
Not documentedRepository activity is not documented
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 |
|---|---|---|---|---|---|---|
| PegasusThis robotTobias | Not documented | 3 of 6 | YesHW MIT · SW MIT | Python | Not documented | — |
| 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 robotPegasus | Spot Micro - Leika | Physical Ant |
|---|---|---|
| Cost | ||
| Not documented | Not documented | $2,230.61 |
| Can I sell it? | ||
| Yes | Yes | Yes |
| Open files | ||
| 3 of 6 | 4 of 6 | 4 of 6 |
| Runs on | ||
| Python | ESP32, MuJoCo | Python, MuJoCo |
| Maintained | ||
| Not documented | 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 035b6aa. Websites and papers are listed with their review dates.
- 01README.md at 035b6aaReviewed Oct 31, 2026
- 02LICENSE at 035b6aaReviewed Oct 31, 2026
- 03PARTS_LIST.csv at 035b6aaReviewed Oct 31, 2026