Quadruped Robot Solo8 v2
The Solo8 v2 is a lightweight 8-degree-of-freedom quadruped robot with torque-controlled actuators, featuring a weight-reduced body structure and updated electronics.Overview
Degrees of Freedom
8 DOF - 2 actuated joints per leg (Hip FE and Knee)
Weight
1.9kg (1.7kg robot + 0.2kg battery placeholder)
Communication
Power and communication over wire (24V / Ethernet)
Electronics
Master board v2, micro drivers, and IMU
Key Specifications
| Specification | Value |
|---|---|
| Degrees of Freedom | 8 DOF (2 per leg) |
| Robot Weight | 1.7kg |
| Weight with Battery Placeholders | 1.9kg |
| Body Structure Weight | 247g |
| Leg Configuration | 4x 2DOF legs |
| Power Supply | 24V over wire |
| Communication | Ethernet |
Mechanical Design
Body Structure
The Solo8 v2 features a weight-reduced body frame structure constructed from 3D printed components:- Body Structure Bottom: 38g
- Body Structure Front/Back Plates: 24g each (identical)
- Body Structure Side Plates: 52g each (identical)
- Body Structure Top: 35g
- Total Body Weight: 247g
- Standard top plate (35g)
- Top plate with Vicon marker attachments (37g)
- Top plate with roll bars for marker protection (55g)
Leg Modules
Each leg uses a 2DOF configuration:- Hip Flexion/Extension (FE) joint
- Knee joint
- Hip FE Motor Phases: 6cm
- Hip FE Encoder Wire: 10cm
- Knee Motor Phases: 12cm
- Knee Encoder Wire: 19cm
Electronics System
Master Board v2
Master Board
Custom electronics board for robot control and communication
- Weight: 19g
- Handles Ethernet communication
- Coordinates motor drivers
- Master Board Documentation
Micro Driver Electronics
The Solo8 v2 uses 4 Micro Driver v2 boards:- Each board controls 2 brushless motors
- 2-card stack in front of robot (32g total)
- 2-card stack in back of robot (32g total)
- Total micro driver weight: 64g
Inertia Measurement Unit
Lord Microstrain 3DM-CX5-25- Weight: 13g
- Extended measurement range:
- Gyro Rate: ±900 deg/sec
- Accelerometer range: ±20G
- Product Page
- X: -10.18mm
- Y: -38.35mm
- Z: -7.85mm
Wiring Configuration
SPI Wires
| Wire ID | Length | Connection |
|---|---|---|
| #0 | 16cm | FLHFE and FLK |
| #1 | 16cm | FRHFE and FRK |
| #2 | 20cm | HLHFE and HLK |
| #3 | 14cm | HRHFE and HRK |
Micro Driver Wires
- 24x motor phase wires (7cm each)
Assembly Components
3D Printed Parts
All parts should be printed in the positive Z direction of the STL files.Body Structure Bottom
Weight: 38g
Body Structure Front/Back
Weight: 24g each (2 required)
Body Structure Sides
Weight: 52g each (2 required)
Body Structure Top
Weight: 35g (multiple options available)
Hardware Requirements
Fasteners:- 25x M3x8 Socket Head Cap Screws (body structure)
- 8x M3x12 Socket Head Cap Screws (legs to front plate)
- 8x M2.5x20 Socket Head Cap Screws (micro driver electronics)
- 3x M2x6 Socket Head Cap Screws (master board)
- 3x M2.5x16 Slotted Screws - Polyamide (IMU)
- 25x M3x4.5 Helicoil
- 8x M3x6 Helicoil
Bill of Materials
| Component | Quantity | Notes |
|---|---|---|
| 2DOF Leg Modules | 4 | Custom assembly |
| Master Board v2 | 1 | Custom electronics |
| Micro Driver Board v2 | 4 | Custom electronics |
| IMU (3DM-CX5-25) | 1 | Extended measurement range |
| Body Structure 3D Printed Parts | 1 set | See part list above |
| Fasteners | Various | Stainless steel |
| Helicoil Inserts | 33 | M3x4.5 and M3x6 |
Coordinate System
The robot coordinate system origin is located at the geometric center of the body structure. The IMU sensor origin is offset from the robot origin as specified in the IMU section above.Applications
The Solo8 v2 is designed for:- Quadrupedal locomotion research
- Dynamic movement studies
- Machine learning experiments
- Agile robot control development
Related Resources
2DOF Leg Assembly
Build instructions for the leg modules
Electronics Wiring
Complete wiring guide and schematics
Master Board
Master board documentation and firmware
CAD Model
Interactive 3D CAD viewer