Mini Pupper 2 parts list

Palm-sized 12-servo robot dog on a Raspberry Pi CM4 and ROS 2, for learning gaits, SLAM and vision.

Quadrupedsintermediate by MangDang

Total parts cost: $604 to $800 (cheapest listed sellers add up to about $331)

Low end is MangDang's legs pre-assembled kit; high end is the fully assembled kit plus the $119 lidar and shipping. MangDang's own BOM puts a parts-only build at roughly $700 (BOM total $755.71, written for Mini Pupper 1); carbon plates, metal horns, display and board only come from MangDang.

Exploded view

Tap any part to see where to buy it. Diagram is schematic, not to scale.

Every part you need

Part	Qty	Spec	Where to buy
MangDang TTL serial bus servo, 3.5 kg.cm, position feedback (Mini Pupper 2) leg joint servos	12	4.8 to 7.4V, ABS case; 3 per leg. The official BOM (written for Mini Pupper 1) lists 12 custom servos at $9.60 and suggests 1 to 3 spares Mini Pupper 2 reads joint position back from these servos; the older PWM-only Mini Pupper servo does not do that.	MangDang: $9.90
Mini Pupper 2 top PCB / carrier board (ESP32) main board	1	Carries the Raspberry Pi CM4, ESP32 servo and IMU controller, LCD and audio connectors Drives the servo bus, IMU, touch sensor, speaker and display; the only source is MangDang.	MangDang: $50.00
Raspberry Pi Compute Module 4, 2GB RAM, Lite, wireless (CM4102000) computer	1	MangDang ships MP2 with a CM4102000; the board also accepts a Raspberry Pi 4B (the 4B build stands taller). Needs a microSD card for the Lite module Runs Ubuntu and ROS 2 for gait control, SLAM and vision.	Electrokit: SEK 519.00 (unverified)
SanDisk Ultra 32 GB microSDXC storage	1	32 GB class 10; official BOM lists $10.99 Holds the OS image with the Mini Pupper software.	Amazon: check price
MangDang custom Li-ion battery, 7.4V 1000 mAh battery	1	7.4V, 1000 mAh / 7.4 Wh, 5V 1A USB charge input, 62 g; official BOM lists $30 Fits the body and powers servos plus compute for about 30 minutes of walking.	MangDang: $20.00
LCD display with display board (speaker on board) display	1	320x240 LCD for the face; official BOM lists $16 for the LCD Shows eyes and status; the display board also carries the speaker.	no verified seller yet
Custom metal servo horns (Leg_Arm_Lower, Leg_Arm_Upper) servo horns	8	4 lower plus 4 upper; official BOM lists $1.50 each Transfers servo torque to the leg linkage; ask MangDang (sales@mangdang.net) for spares.	no verified seller yet
Carbon fiber body and leg parts frame plates and legs	1	Set of Plate_Bottom 1, Plate_Top 1, Leg_Upper 4, Leg_Lower 4, Link_ShortRod 4, Link_RockerArm 4; BOM says these can be self-made Stiff, light structure for the legs and body.	no verified seller yet
M2 ball end, 15 mm linkage rod end leg linkage	8	M2 thread; official BOM lists $7.49 per 2 Joints at each end of the lower leg push rod.	Amazon: check price
M2 x 35 mm double-end threaded rod leg linkage	4	Official BOM lists $18.26 per 10 Push rod between the ball ends, one per leg.	Amazon: check price
F2-6M thrust ball bearing, 2 x 6 x 3 mm bearings	16	Official BOM lists $7.99 per 5 Takes axial load in the leg joints.	Amazon: check price
693ZZ bearing, 3 x 8 x 4 mm bearings	4	Hip ab/adduction axle; official BOM lists $10.99 per 10 Supports the hip side-swing axle.	Amazon: check price
F682ZZ flanged ball bearing, 2 x 5 x 2.3 mm bearings	8	Official BOM lists $7.99 per 10 Knee and linkage pivots.	Amazon: check price
M2 female standoff 18 mm, plus M2 x 10+6 mm male/female standoff standoffs	8	4 of each; BOM links a 320-piece M2 assortment at $13.88 Spaces the top and bottom plates.	Amazon: check price
Heat-set inserts: M2 x 4 mm (42), M3 x 4 mm (4), M1.4 x 3 mm (12) heat-set inserts	58	McMaster 94459A120, 94459A130, 92120A140; BOM lists $9.38/50, $10.00/50, $14.38/100 Threads for screws into the printed body and shell parts.	McMaster-Carr: check price (unverified) M2, 50 pcs; BOM link McMaster-Carr: check price (unverified) M3, 50 pcs; BOM link McMaster-Carr: check price (unverified) M1.4, 100 pcs; BOM link
M2 button head hex screws, mixed lengths screws	112	4 mm x9, 5 mm x38, 6 mm x22, 8 mm x22, 10 mm x8, 12 mm x9, 14 mm x4; McMaster 91239A series per BOM Most of the robot is held together with M2 screws.	McMaster-Carr: check price (unverified) M2x5, 50 pcs; BOM link McMaster-Carr: check price (unverified) M2x8, 50 pcs; BOM link McMaster-Carr: check price (unverified) M2x10, 50 pcs; BOM link McMaster-Carr: check price (unverified) M2x12, 10 pcs; BOM link
M2 locknut screws	16	McMaster 93625A101; BOM lists $8.05 per 10 Locks the linkage pivots.	McMaster-Carr: check price (unverified) 10 pcs; BOM link
M2 x 6 mm self-tapping screw screws	6	McMaster 94209A343; BOM lists $8.57 per 100 Fixes small parts straight into plastic.	McMaster-Carr: check price (unverified) 100 pcs; BOM link
M1.4 x 3 mm screws screws	13	BOM links an M1.4 electronics screw assortment ($8.59) Mount the LCD and shell details.	Amazon: check price
M3 x 8 mm button head hex screw screws	4	McMaster 97763A813; BOM lists $7.00 per 10 Hip axle fixings.	McMaster-Carr: check price (unverified) 10 pcs; BOM link
STL-06P lidar module with MangDang cable and printed holder lidar (optional)	1	Only lidar MangDang guarantees with its ROS code Needed for ROS 2 SLAM and navigation demos.	MangDang: $119.00
OV5647 camera module (Pi MIPI camera) camera (optional)	1	Not in the default kit; Pi Camera v1.3 or v2 class MIPI camera Enables OpenCV and gesture or vision demos.	MangDang: $8.00
MangDang custom adapter, 12V 3A bench power (optional)	1	For development on the bench instead of the battery The battery only lasts about half an hour; the FAQ suggests a DC supply for long coding sessions.	MangDang: $15.00

Quantities follow the official Mini Pupper 2 docs: https://minipupperdocs.readthedocs.io/en/latest/. "Unverified" prices come from search listings or older BOMs that we could not confirm on the seller's product page.

Kits (fewer orders, check what they leave out)

Kit	Price	Includes	Leaves out	Buy
Mini Pupper 2 Pre-assembled Kit MangDang	$649.00	Assembled and calibrated robot with CM4 and battery, software preinstalled	Controller, camera, lidar (add-ons); shipping up to about $30	MangDang: $649.00
Mini Pupper 2 Legs Pre-assembled Kit MangDang	$604.00	All parts with legs already built; about 1 hour to finish	Controller, camera, lidar	MangDang: $604.00
Mini Pupper 2 Upgrade Kit + CM4102000 MangDang	$399.00	Parts to convert a Mini Pupper 1 to Mini Pupper 2, with CM4	The Mini Pupper 1 you are upgrading	MangDang: $399.00
Mini Pupper 2 Pre-assembled Kit RobotShop	$649.00	Same kit as MangDang's, US reseller	Page does not list contents; check before buying	RobotShop: $649.00
Mini Pupper 2 Legs Pre-assembled Kit RobotShop	$605.00	Legs pre-assembled version	Page does not list contents; check before buying	RobotShop: $605.00

3D printed parts

Needed. Kits include all printed body and shell parts. For a DIY build, the BOM lists body (front, two middle, back, hips, display cover) and shell parts (front, hip, upper leg, side shells, 4 feet); lidar and camera holder STLs are in a separate folder. Files: https://drive.google.com/drive/folders/1L4t1hxhqPaVPT9OIw9t5WhxEJ_s3Udym

Mistakes builders make

Never power it from anything above 8.4V (2S); the docs warn a higher external supply will fry every servo.
The only public BOM is the Mini Pupper 1 sheet. MP2 swaps in feedback servos, an ESP32 carrier board and a CM4, all sold only by MangDang.
Handheld game controllers can pair unreliably with the CM4's Bluetooth; MangDang recommends its Wi-Fi web controller instead. No controller ships in the MP2 box.
Battery runs about 30 minutes of walking. Charge with a 5V 1A adapter (faster chargers are throttled to 1A) and use a bench supply for long coding sessions.
Only the STL-06P lidar is guaranteed to work with the official ROS code.
A builder reported the calibration tool not saving exact values (bsp issue #37); recheck joint offsets after calibrating.
Order 1 to 3 spare servos; the BOM recommends it and they are the part most likely to wear.

FAQ

How much does it cost to build the Mini Pupper 2?

About $604 to $800 in parts at current prices, Low end is MangDang's legs pre-assembled kit; high end is the fully assembled kit plus the $119 lidar and shipping. MangDang's own BOM puts a parts-only build at roughly $700 (BOM total $755.71, written for Mini Pupper 1); carbon plates, metal horns, display and board only come from MangDang..

Do I need a 3D printer for the Mini Pupper 2?

Yes. Kits include all printed body and shell parts. For a DIY build, the BOM lists body (front, two middle, back, hips, display cover) and shell parts (front, hip, upper leg, side shells, 4 feet); lidar and camera holder STLs are in a separate folder.