Open Cat Quadruped Robot

Abstract

1. Introduction

Inspired by Boston Dynamics' Spot, Dr. Rongzhong Li started OpenCat in his dorm at Wake Forest University in 2016. The goal was straightforward: make agile quadruped robots affordable and hackable enough for researchers, educators, and makers — not just well-funded labs.

OpenCat is now deployed across two robot platforms and used in K-12 schools, university research labs, maker spaces, and independent projects worldwide.

Quaddle — Petoi's newest OpenCat-lineage quadruped — goes live on Kickstarter Sept 2, 2026. Get notified → (details below)

2. Objective

An open source quadruped robot pet framework for developing Boston Dynamics-style four-legged robots that are perfect for STEM, coding & robotics education, IoT robotics applications, AI-enhanced robotics application services, research, and DIY robotics kit development.

This project demonstrates how C++, Arduino, Raspberry Pi can be applied to a real-world Internet of Things (IoT) problem.

4. Technology Stack

• Bittle X — mini robot dog & AI robotics kit with voice control — current generation, BiBoard/ESP32
• Also available on Amazon
• Try the simulator
• Nybble Q — mini robot cat & AI robotics kit — current generation
• Multi-language: C/C++, Python, block-based coding
• Open hardware + software: fork, modify, extend — no vendor lock-in
• Arduino + Raspberry Pi native: works with the tools you already use
• Sensor integration: cameras, touch, IMUs, ultrasonic, etc. — clip and go

5. System Requirements

General requirements for this technology stack — check the README for exact versions.

• Arduino IDE / PlatformIO or a C++ compiler (g++)
• Target board (e.g. Arduino, ESP32) where applicable
• Git (to clone the repository)

6. Installation & Setup

git clone https://github.com/PetoiCamp/OpenCat-Quadruped-Robot.git
cd OpenCat-Quadruped-Robot

1. iOS: App Store
2. Android: Google Play

#define BITTLE    // Petoi 9 DOF robot dog: 1x on head + 8x on leg
//#define NYBBLE  // Petoi 11 DOF robot cat: 2x on head + 1x on tail + 8x on leg

//#define NyBoard_V0_1
//#define NyBoard_V0_2
#define NyBoard_V1_0
//#define NyBoard_V1_1

// #define MAIN_SKETCH

Reset joint offsets? (Y/n)
Y

Calibrate the IMU? (Y/n):
Y

Full setup instructions are in the project README.

7. Future Enhancements

Suggested extensions you can add to make this your own project.

• Add a mobile dashboard using Blynk or Firebase
• Store readings in a cloud database for history charts
• Add alerts via SMS / Telegram when thresholds are crossed

8. Viva / Review Questions

Common questions examiners ask for projects in this domain.

1. Which microcontroller / board and sensors are used and why?
2. How does the device send data (Wi-Fi, MQTT, HTTP, Bluetooth)?
3. Where is the sensor data stored and visualised?
4. How is power consumption managed?
5. How would you secure the device and its communication?

9. Source Code & License

This project is developed by PetoiCamp and published on GitHub under the MIT License. Please follow the license terms and credit the original author when you use or modify this code.