Quadruped_bai_servo v1
A 12-DOF quadruped built from printed parts and hobby servos, with optional foot sensors.
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 BSD-3-Clause · Software BSD-3-Clause. Licensing source
What’s open?
5 of 6CAD: AvailableBOM: AvailablePCB: AvailableCode: AvailableSim: AvailableGuide: Not documented
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.
Quadruped_bai_servo v1 is a four-legged robot actuated by hobby servos. The repository provides printed-part files, a parts list, electronics designs and source code. Optional foot sensors use micro switches to detect ground contact; the firmware includes a simplified trot controller and uses an IMU to adjust body roll and pitch during stance.
Hardware
- Actuators
- 12 · Servos README
- Build
- 3D-printed · printable parts in the repository Documentation
- Degrees of freedom
- 12 README
- Legs
- 4 README
- Sensors
- IMU 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 | Printable STL files are provided. | Not documented | stl/ |
| Bill of materials | Available | The README includes a required-parts list. | Not documented | README.md |
| Electronics | Available | PCB designs are made with EAGLE; exported Gerber files are uploaded. | Not documented | README |
| Code | Available | Firmware source is included. | Not documented | quad_bai_s_ctr.ino |
| Simulation model | Available | A simplified V-REP model is provided. | Not documented | simulate/ |
| 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 BSD-3-Clause. You can build, modify and sell robots based on it, as long as you keep the license and copyright notices.
- Hardware
- BSD-3-Clause
- Software
- BSD-3-Clause
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 |
|---|---|---|---|---|---|---|
| Quadruped_bai_servo v1This robotpsrobotics | Not documented | 5 of 6 | YesHW BSD-3-Clause · SW BSD-3-Clause | Arduino | 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 robotQuadruped_bai_servo v1 | Spot Micro - Leika | Physical Ant |
|---|---|---|
| Cost | ||
| Not documented | Not documented | $2,230.61 |
| Can I sell it? | ||
| Yes | Yes | Yes |
| Open files | ||
| 5 of 6 | 4 of 6 | 4 of 6 |
| Runs on | ||
| Arduino | 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 60c67f2. Websites and papers are listed with their review dates.
- 01README.md at 60c67f2Reviewed Oct 31, 2026
- 02LICENSE at 60c67f2Reviewed Oct 31, 2026