Open-source quadruped robot MBF runs on Raspberry Pi 4, ROS2
This affordable 3D-printed robot dog uses CAN bus and FOC actuators.
Deep Dive
Developer adwng built MBF, a fully open-source quadruped robot using affordable 3D-printed components and CAN bus actuators. Running ROS2 on a single Raspberry Pi 4, it features custom joint impedance control, a ros2_control hardware interface, and extensible reinforcement learning inference. The project emphasizes accessibility through open-source collaboration. The full software stack and design are available on GitHub.
Key Points
- Fully 3D-printed frame with GIM6010-8 planetary actuators using FOC over CAN bus
- Entire software stack runs on a single Raspberry Pi 4 – no additional microcontrollers
- Supports sim-to-sim and sim-to-real transfer via ROS2/Gazebo and CHAMP framework
Why It Matters
Proves that individuals can build complex legged robots using open-source tools and consumer hardware.