{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/190504254","title":"Stanford Doggo: An Open-Source, Quasi-Direct-Drive Quadruped","arxiv_id":"1905.04254","date":"2019-05-10","proceeding":null,"authors":["Nathan Kau","Aaron Schultz","Natalie Ferrante","Patrick Slade"],"abstract":"This paper presents Stanford Doggo, a quasi-direct-drive quadruped capable of dynamic locomotion. This robot matches or exceeds common performance metrics of state-of-the-art legged robots. In terms of vertical jumping agility, a measure of average vertical speed, Stanford Doggo matches the best performing animal and surpasses the previous best robot by 22%. An overall design architecture is presented with focus on our quasi-direct-drive design methodology. The hardware and software to replicate this robot is open-source, requires only hand tools for manufacturing and assembly, and costs less than $3000.","url_abs":"http://arxiv.org/abs/1905.04254v1","url_pdf":"http://arxiv.org/pdf/1905.04254v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"190504254","repo_url":"https://github.com/Nate711/StanfordDoggoProject","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"190504254","repo_url":"https://github.com/jason4wy/robot","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"190504254","repo_url":"https://github.com/kyqv/StanfordDoggoProject","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null},{"paper_slug":"190504254","repo_url":"https://github.com/qiuwenhui/StanfordDoggoProject","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}