Stanford Pupper (v1, servo version) parts list

No kit sellers left: both kit stores on the official docs page are gone. Plan to source every part yourself.

Twelve-servo Raspberry Pi robot dog from Stanford's student club, built from carbon fiber plates and printed hips, driven by a PS4 controller.

Quadrupedsintermediate by Stanford Student Robotics

Total parts cost: $750 to $1,150 (cheapest listed sellers add up to about $191)

The official BOM totals $892.58 (electronics $468.91 + hardware $423.67), with JX servos bought direct at $24.50 each. Servos from resellers run about $37 to $60 each, which pushes the total up. Includes carbon fiber and printed parts at BOM estimates; excludes tools, tax and shipping. This is the original servo Pupper, not the brushless Pupper v3.

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
JX Servo CLS6336HV coreless digital servo leg actuators	12	High voltage (2S) coreless metal gear servo, 25T spline; 3 per leg; official BOM lists $24.50/unit bought by email from JX directly and suggests a few spares Moves every joint; three per leg for hip side swing, hip and knee.	Newegg: $59.86 (unverified) single; ships from China
Raspberry Pi 4 Model B 2GB computer	1	BOM links the 2GB board ($42 in the 2020 sheet); 4GB also works Runs the gait controller and reads the PS4 controller over Bluetooth.	Adafruit: $80.00 single; 2GB, out of stock when checked Adafruit: $120.00 single; 4GB Amazon: check price
Pupper Raspberry Pi PDB (custom PCB, pack of 5) power distribution board	1	2-layer, 2 oz copper (the BOM stresses 2 oz, not 1 oz); order the Gerbers from the Pupper-Raspi-PDB repo; BOM estimate $30 for 5 boards Splits battery power to the 12 servos and carries their signal lines from the Pi header.	JLCPCB: check price (unverified) 5 boards; Gerbers in repo, upload to JLCPCB
2x20 extra tall stacking header for Raspberry Pi PDB header	1	Female stacking header; BOM links an Amazon 2-pack Mounts the PDB on the Pi's GPIO pins.	Adafruit: $2.95 Amazon: check price
Single row male header pins PDB servo pins	1	2.54 mm breakaway strips; one pack Servo plug-in points on the PDB.	Amazon: check price
5V UBEC / step-down regulator 5V supply for the Pi	1	Battery-to-5V BEC module; BOM links a 2-pack Feeds the Raspberry Pi from the 2S pack.	Amazon: check price
2S 7.4V 5200 mAh hard case LiPo, XT60 battery	1	2S LiPo with XT60 plug; BOM lists $17.99 Powers servos and Pi; 2S matches the HV servos.	Amazon: check price
XT60 connector pair power connector	1	Male/female XT60 pair; BOM links a pack Battery lead to the PDB.	Amazon: check price
Sony DualShock 4 (PS4) wireless controller remote	1	Pairs with the Pi over Bluetooth; BOM lists $46.96 The stock software drives Pupper from a PS4 pad.	Amazon: check price
SparkFun VR IMU breakout (BNO080, now BNO086) IMU (optional)	1	BOM lists the BNO080 ($37) as optional; SparkFun's BNO080 page now redirects to the BNO086 board (SEN-22857) Lets the legs level the feet when the body tilts; the team ships with it off by default.	SparkFun: $34.95 single; BNO086 replacement
Teensy LC IMU bridge (optional)	1	BOM lists $15; PJRC lists $12.85 but says no more Teensy LC stock is expected Reads the IMU and passes data to the Pi in the optional IMU setup.	PJRC: $12.85 single; out of stock, not expected back
25T aluminum servo arm servo horns (hip and knee)	8	25-tooth spline arm; BOM buys 8 singles at $8.99 Connects hip and knee servos to the leg links.	Amazon: check price
25T disc servo spline abduction servo discs	4	25-tooth round disc horn; BOM buys one 5-pack Couples the side-swing servo to the inner hip.	Amazon: check price
M3 rod end ball links, 20 mm knee linkage	8	3.0 x L20 mm ball ends; BOM buys two 5-packs Ends of the push rod that drives each knee.	Amazon: check price
M3 threaded rod knee linkage	4	BOM buys one 10-pack Push rod between the ball links.	Amazon: check price
MR693ZZ bearing 3x8x4 mm bearings	4	BOM buys one 10-pack Hip side-swing axle bearings.	Amazon: check price
Thrust bearing 4x9x4 mm bearings	8	BOM buys one 10-pack Knee joint stack-up.	Amazon: check price
M3 x 20 mm aluminum standoff hip spacers	16	BOM buys one 20-pack Separates the inner and outer hip pieces.	Amazon: check price
M3 shoulder bolt, 4 mm shoulder, 12 mm long (McMaster 92981A143) knee axle	4	BOM lists $2.56 each Axle for the lower leg link.	McMaster-Carr: check price (unverified) single; BOM part number
Screws, inserts, nuts and washers (McMaster list) fasteners	1	Alloy steel M3 button and socket heads (6, 8, 10, 16 mm), M3 flat heads, M4x10 plastic screws, M3 and M2.5 heat-set inserts, M3 locknuts, M3 washers, cushioning washers as feet; all McMaster part numbers are in the hardware tab Holds the frame, hips and legs together; the feet are cushioning washers.	McMaster-Carr: check price (unverified) 100 pcs; M3x8 button head, one of several
Carbon fiber routed parts (top and bottom plates, 4 upper legs, 4 lower legs) frame	1	Plates 1.5 mm, lower legs 2 mm, upper legs 3 mm; BOM estimate about $95 for the set Body plates and leg links.	Great3D: check price (unverified) full set; BOM link, site did not load when checked
3M Dual Lock SJ3550 reclosable fastener mounting	1	About 10 inches needed from a 4 ft roll; optional Sticks the Pi case and battery to the bottom plate.	Amazon: check price

Quantities follow the official Stanford Pupper (v1, servo version) docs: https://pupper.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
Stanford Pupper carbon fiber parts set Great3D	check price	All routed carbon fiber plates and leg links (BOM says one spare of each leg link)	Everything else; site did not load when checked	Great3D: check price

3D printed parts

Needed. Four body supports, a Pi case, 4 inner hips and 4 outer hips. PLA or PETG, 0.2 to 0.4 mm layers, over 50% infill; print a spare inner and outer hip. The BOM suggests SLS nylon from a print service if you have no printer. Files: https://drive.google.com/open?id=1NzR0NcP0DdmNDBfc23uyoVpybuapZseN

Mistakes builders make

The two kit sellers on the docs page are out: the Cypress Software store no longer exists, and MangDang now sells its own Mini Pupper. Plan to source parts yourself.
JX servos were cheapest bought by email from the maker; reseller prices run about double. Buy a few spares, one school group found three bad servos in a batch.
Order the PDB with 2 oz copper; the BOM calls this out as critical.
Very old Raspbian Buster images do not boot on newer Pi 4 boards; one builder used the 2020-02-13 Buster Lite image.
If install.sh fails with pip or git not found, run install_packages.sh from the home folder first.
The IMU is optional and off by default; it levels the feet, not the body, so the robot walks tilted.
The Teensy LC for the IMU setup is effectively discontinued at PJRC.
Pupper v3 is a different robot (brushless motors, Pi 5); this list is for the original servo Pupper.

FAQ

How much does it cost to build the Stanford Pupper (v1, servo version)?

About $750 to $1,150 in parts at current prices, The official BOM totals $892.58 (electronics $468.91 + hardware $423.67), with JX servos bought direct at $24.50 each. Servos from resellers run about $37 to $60 each, which pushes the total up. Includes carbon fiber and printed parts at BOM estimates; excludes tools, tax and shipping. This is the original servo Pupper, not the brushless Pupper v3..

Do I need a 3D printer for the Stanford Pupper (v1, servo version)?

Yes. Four body supports, a Pi case, 4 inner hips and 4 outer hips. PLA or PETG, 0.2 to 0.4 mm layers, over 50% infill; print a spare inner and outer hip. The BOM suggests SLS nylon from a print service if you have no printer.