Public BOM audited. This is a source-bound system evidence record, not an independent rebuild.
Quadruped · Stanford Robotics Club
Stanford Pupper v1 controller/hardware requirements
Markdown list · commit-addressable.
No complete rebuild evidence package found.
The robot name is not the version boundary.
RCI preserves the exact source surface and revision conditions instead of applying one prototype or current product page to every unit.
Platform boundary
Stanford Pupper v1 controller/hardware requirements
StanfordQuadruped repository commit dc0c5e2089cf2c0aac3c59982a4f140c31803175; v1 repository is explicitly end-of-life.
Version state
Addressable source snapshot
Immutable repository commit for the v1 project; not one physical unit.
Lifecycle boundary
Changes remain attached to the source.
The official README states Pupper v1 is no longer for sale and support ended, and points users to Pupper v3.
Responsibility party
Stanford Robotics Club
RCI maps the named public responsibility party; inclusion does not imply endorsement, partnership or unit-level verification.
1 bounded lifecycle or procurement relations.
Replacement, upgrade, EOL and regional procurement signals remain separate from current availability and as-built identity.
end-of-life-discontinuation
Stanford Pupper v1 → Pupper v3 project
The official v1 repository states v1 is no longer for sale or supported and points users to Pupper v3.
System impact: Historical v1 hardware/software evidence must not be treated as a currently supported procurement or build recommendation.
Open: This record does not assert drop-in migration or enumerate a v1-to-v3 BOM delta.
Strongest supported conclusion
Pinned control stack, Raspberry Pi host, joystick interface, PWM path, IMU and configuration source files plus an explicit EOL boundary.
Largest rebuild gap: No selected full mechanical/procurement BOM, unit serial manifest, receipts or current supported build path.
Editorial boundary: An EOL historical evidence profile is not a recommendation to buy or rebuild v1.
Twelve gates separate a parts list from a rebuild package.
Partial means a source contains useful material but does not close the exact revision, quantity, part identity or unit-level boundary.
| Evidence dimension | State | What the state means here |
|---|---|---|
| Exact platform revision | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Versioned BOM snapshot | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Line-item quantities | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Manufacturer part numbers | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Supplier links | Not published | The selected sources do not publish this evidence dimension. |
| Custom-part production files | Not published | The selected sources do not publish this evidence dimension. |
| Electrical interconnect definition | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Software / firmware binding | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| License boundary | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Change, EOL and substitution history | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Unit-level as-built manifest | Not published | The selected sources do not publish this evidence dimension. |
| Independent rebuild evidence | Not published | The selected sources do not publish this evidence dimension. |
README and hardware configuration top-level dependency list
The count below preserves the responsibility party's publication structure; it is not silently flattened into unique purchasable components.
Selected count
8 rows / list items
Eight RCI-normalized published hardware/control dependency records. This is not a flattened mechanical BOM.
Format
Markdown list
RCI did not treat the publication format as a normalized database table.
Next evidence gate
Normalize without inventing.
Resolve exact part identity, quantity scope, placement, revision and substitution state while retaining nested assemblies, alternatives and generic groups as explicit boundaries.
As-built state
Not published
A public list does not establish what one serialised unit actually contained.
No manufacturer identity is safely linked from the selected rows.
These are responsibility-party BOM mentions, not partnership, endorsement, verified supply or exact-component equivalence.
Generic or unregistered identities remain unlinked.
RCI will add a relationship only after the source publishes a manufacturer identity that maps unambiguously to the directory.
5 bounded nodes and 4 source-supported interface relations.
RCI publishes a connection only when the selected responsibility-party source explicitly supports the endpoints or architecture. A BOM co-occurrence, component capability or engineering convention is not enough.
external-host node
PS4 controller and joystick publisher path
One responsibility-party-described PS4 controller read over Bluetooth by a separate joystick publisher that sends UDP commands.
Identity boundary: The selected evidence does not freeze controller hardware revision, Bluetooth adapter, publisher host, pairing state, joystick program revision or network identity.
Source rows: stanford-pupper-v1-item-04, stanford-pupper-v1-item-05
compute node
Raspberry Pi on-robot host
One family-level Raspberry Pi host in the pinned Pupper v1 architecture.
Identity boundary: Exact Pi model, RAM, board revision, serial, storage image, operating system, network interface and physical GPIO condition are not fixed in the selected profile.
Source rows: stanford-pupper-v1-item-01
control node
pigpiod twelve-channel PWM hardware interface
Pinned Python hardware interface using pigpiod and a 3×4 GPIO pin matrix at 250 Hz.
Identity boundary: This is a software-to-GPIO control surface, not a separately purchased controller; pigpio version, daemon configuration, timing jitter and electrical buffering are not frozen.
Source rows: stanford-pupper-v1-item-08
actuation node
Twelve generic PWM joint servos
Twelve servo channels arranged as three axes across four legs by the pinned configuration and hardware interface.
Identity boundary: Exact servo manufacturer, model, voltage, serials, calibration, horn geometry, current demand, wear and allowable duty cycle remain outside this selected evidence surface.
Source rows: stanford-pupper-v1-item-02
control node
Optional serial IMU path
The pinned run program defaults use_imu to false; when enabled it opens an IMU on /dev/ttyACM0 and reads quaternion data.
Identity boundary: Exact IMU, intermediary controller, USB identity, firmware, sensor calibration, mounting transform and whether the option was fitted on one unit are not published.
Source rows: stanford-pupper-v1-item-03
| From → to | Relation | Published support | Still unresolved |
|---|---|---|---|
| PS4 controller and joystick publisher path → Raspberry Pi on-robot hostbidirectional | data-controlBluetooth PS4 input through separate joystick publisher to UDP ports 8830/8840 | The pinned README describes PS4-over-Bluetooth input and a separate UDP publisher; JoystickInterface fixes subscriber port 8830, publisher port 8840 and a nominal 50-message/s path.stanfordroboticsclub/StanfordQuadruped commit dc0c5e2089cf2c0aac3c59982a4f140c31803175 | Publisher host, Bluetooth adapter, pairing, IP addressing, transport authentication, packet-loss behavior, joystick script identity and exact controller revision are not frozen. RCI has not paired a controller or captured UDP traffic.Physical validation: none. |
| Raspberry Pi on-robot host → pigpiod twelve-channel PWM hardware interfacesource-to-target | software-rolePython hardware interface to local pigpiod PWM daemon | The pinned HardwareInterface imports pigpio, opens pigpio.pi(), initializes the published PWM matrix and writes servo duty cycles.stanfordroboticsclub/StanfordQuadruped commit dc0c5e2089cf2c0aac3c59982a4f140c31803175 | pigpio version, daemon startup, socket locality, permissions, scheduling latency, GPIO electrical mode and fail-safe behavior are not frozen. RCI has not executed the daemon or measured PWM timing.Physical validation: none. |
| pigpiod twelve-channel PWM hardware interface → Twelve generic PWM joint servossource-to-target | data-controlTwelve 250 Hz GPIO PWM channels on pins 2/14/18/23, 3/15/27/24 and 4/17/22/25 | The pinned Pupper configuration publishes a 3×4 GPIO pin matrix, PWM range 4000 and frequency 250 Hz; HardwareInterface iterates four legs by three axes and writes each channel.stanfordroboticsclub/StanfordQuadruped commit dc0c5e2089cf2c0aac3c59982a4f140c31803175 | Servo signal voltage, buffering, connector map, cable identity, pulse calibration, channel-to-physical-joint verification and power-domain grounding are not independently fixed. RCI has not observed any PWM waveform or servo motion.Physical validation: none. |
| Optional serial IMU path → Raspberry Pi on-robot hostsource-to-target | data-controlOptional /dev/ttyACM0 serial quaternion path at 500000 baud | The pinned run program defaults use_imu=false; when enabled it constructs IMU(port="/dev/ttyACM0"), while the pinned IMU reader defaults to 500000 baud and parses four-value quaternion rows.stanfordroboticsclub/StanfordQuadruped commit dc0c5e2089cf2c0aac3c59982a4f140c31803175 | The option is disabled by default; exact sensor and intermediary identity, USB descriptor, firmware, frame convention, calibration, mounting and sample timing are not fixed. RCI has not enabled or enumerated this path.Physical validation: none. |
8 source items converted into claim-bounded records.
Identity, quantity and installed-hardware boundaries remain separate fields; a generic source label is never promoted to an exact orderable model.
| Source item | Class | Identity | Quantity boundary | Role + unresolved evidence |
|---|---|---|---|---|
| Raspberry Pi hostRepository architecture and hardware configuration requirements | computeInstalled / build item | variant-namedRaspberry Pi | 1 unitOne Raspberry Pi-based host is part of the published architecture; exact revision is not fixed in this profile. | On-robot control hostNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| PWM servo actuator setRepository architecture and hardware configuration requirements | actuationInstalled / build item | generic-descriptionNo exact identity published | 12 unitThe configuration source maps twelve servo channels; exact servo procurement identity remains outside this selected surface. | Quadruped joint actuationNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| IMURepository architecture and hardware configuration requirements | sensorInstalled / build item | generic-descriptionNo exact identity published | 1 unitOne IMU path is present in the architecture; exact orderable identity is not promoted. | Body orientation sensingNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| PS4 controllerRepository architecture and hardware configuration requirements | controlInstalled / build item | variant-namedDualShock 4 / PS4 controller | 1 unitOne controller is used by the responsibility-party joystick path. | Wireless teleoperation inputNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| Bluetooth interfaceRepository architecture and hardware configuration requirements | controlInstalled / build item | generic-descriptionNo exact identity published | 1 unitOne Bluetooth path is required; adapter identity is not fixed. | Controller-host radio linkNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| Servo power sourceRepository architecture and hardware configuration requirements | powerInstalled / build item | generic-descriptionNo exact identity published | 1 unitA power path is required without an orderable battery/supply identity in this selected surface. | Actuator energy supplyNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| Printed/mechanical quadruped structureRepository architecture and hardware configuration requirements | custom-mechanicalInstalled / build item | generic-descriptionNo exact identity published | Not publishedThe selected repository does not expose a flattened mechanical BOM. | Robot frame and legsNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
| pigpiod PWM interfaceRepository architecture and hardware configuration requirements | controlInstalled / build item | generic-descriptionNo exact identity published | Not publishedSoftware/firmware dependency, not a separately procured installed component. | Software-to-hardware PWM dependencyNo unit serial, receipt, lot or as-built inspection binds this row to one physical robot. |
Every conclusion returns to a selected source.
Links point to the responsibility party's material. RCI does not republish third-party BOM rows, CAD or retailer content through this profile.
Stanford Pupper v1 repository ↗
EOL notice, architecture and hardware configuration sources
Commit dc0c5e2Correction path
Know a newer revision or an exact as-built record?
Corrections must identify the platform revision, source location and the exact field affected. Manufacturer or project-party clarification is displayed alongside independently sourced evidence without replacing the original boundary.
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