{"id":38854026,"url":"https://github.com/alpaca-zip/pupbot","last_synced_at":"2026-01-17T14:15:21.578Z","repository":{"id":87557442,"uuid":"371639482","full_name":"Alpaca-zip/pupbot","owner":"Alpaca-zip","description":"ROS package for quadruped robot PupBot.","archived":false,"fork":false,"pushed_at":"2023-09-09T18:15:58.000Z","size":17538,"stargazers_count":19,"open_issues_count":1,"forks_count":0,"subscribers_count":2,"default_branch":"noetic-devel","last_synced_at":"2025-09-09T04:54:33.292Z","etag":null,"topics":["arduino","quadruped-robot","raspberry-pi","ros"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"apache-2.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Alpaca-zip.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2021-05-28T08:53:20.000Z","updated_at":"2025-03-23T07:56:31.000Z","dependencies_parsed_at":"2025-09-09T04:49:00.422Z","dependency_job_id":null,"html_url":"https://github.com/Alpaca-zip/pupbot","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/Alpaca-zip/pupbot","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Alpaca-zip%2Fpupbot","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Alpaca-zip%2Fpupbot/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Alpaca-zip%2Fpupbot/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Alpaca-zip%2Fpupbot/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Alpaca-zip","download_url":"https://codeload.github.com/Alpaca-zip/pupbot/tar.gz/refs/heads/noetic-devel","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Alpaca-zip%2Fpupbot/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28509941,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-17T13:38:16.342Z","status":"ssl_error","status_checked_at":"2026-01-17T13:37:44.060Z","response_time":85,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["arduino","quadruped-robot","raspberry-pi","ros"],"created_at":"2026-01-17T14:15:21.509Z","updated_at":"2026-01-17T14:15:21.573Z","avatar_url":"https://github.com/Alpaca-zip.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# PupBot [![ROS-noetic Industrial CI](https://github.com/Alpaca-zip/pupbot/actions/workflows/noetic-ci.yml/badge.svg)](https://github.com/Alpaca-zip/pupbot/actions/workflows/noetic-ci.yml) [![Docker Build Check](https://github.com/Alpaca-zip/pupbot/actions/workflows/docker-build-check-bot.yml/badge.svg?event=pull_request)](https://github.com/Alpaca-zip/pupbot/actions/workflows/docker-build-check-bot.yml)\r\nROS package for quadruped robot PupBot.\r\n\r\n[![dockeri.co](https://dockerico.blankenship.io/image/alpacazip/pupbot)](https://hub.docker.com/r/alpacazip/pupbot)\r\n\r\n~~https://github.com/Alpaca-zip/docker-pupbot~~ is no longer supported!  \r\nCheck out DockerHub from the banner above.\r\n\r\n\u003cimg src=\"https://github.com/Alpaca-zip/pupbot/assets/84959376/aeeeb110-bc89-4cfb-9514-b253e039affc\" width=\"330px\"\u003e 　\u003cimg src=\"https://github.com/Alpaca-zip/pupbot/assets/84959376/9bd9c814-8c15-4010-a0dd-d9faf234b706\" width=\"400px\"\u003e\r\n\r\n## Basic Components\r\n- Dynamixel AX-12A (×12)\r\n- OpenCR1.0 (×1)\r\n- Raspberry Pi 4 Model B (×1)\r\n- LIPO Battery 11.1V 1,800mAh (×1)\r\n- 3P Extension PCB (×1)\r\n\r\n## Posture control with PupBot\r\nThe posture control feature provides a stable gait on sloping terrain. This algorithm plays an important role in stabilizing the robot body during gait by dynamically controlling the toe position based on the filtered roll and pitch angles. \r\n\r\n![posture_control](https://user-images.githubusercontent.com/84959376/191177606-0fdff183-3349-40da-a78a-2da9e3d32d73.gif)\r\n\u003cimg src=\"https://user-images.githubusercontent.com/84959376/191180942-1104cf41-3f2a-4d45-b8f5-ec9582013b9b.jpg\" width=\"800px\"\u003e\r\n\r\n## Usage\r\n### 1. Setup ROS package\r\n```\r\n$ cd ~/catkin_ws/src\r\n$ git clone -b noetic-devel https://github.com/Alpaca-zip/pupbot.git\r\n$ wstool merge pupbot/pupbot.rosinstall\r\n$ wstool update\r\n$ cd ~/catkin_ws\r\n$ rosdep install -r -y -i --from-paths .\r\n$ catkin build\r\n```\r\n\r\n### 2. Control the PupBot with simulation\r\n```\r\n$ roslaunch pupbot pupbot_simulation.launch debug:=true\r\n```\r\n\r\n### 3. Extra information\r\nIt is helpful to see `pupbot_bringup.launch` to get an understanding of how the robot works on the actual machine.\r\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Falpaca-zip%2Fpupbot","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Falpaca-zip%2Fpupbot","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Falpaca-zip%2Fpupbot/lists"}