Legged-platform technical dossier · 03
Read source, hardware design, firmware, configuration, simulator and external mechanical assets as separate but connected layers of one practical research platform.
Identify platform and generation first
The mjbots quad repository publishes source and design files for a series of quadruped robots, their control interfaces and development utilities. It integrates closely with mjbots mechanical and moteus motor-control projects, while external Fusion 360 assemblies and purchased components remain separate dependencies.
Engineering asset map
C++ control code, walking-robot modules, configurations, utilities, tests and data-analysis support.
Verify before adoptionPin the robot configuration, Bazel toolchain, operating system, dependencies and every external repository revision.
Hardware design files and firmware under the repository hw tree, connected to moteus controllers.
Verify before adoptionReconcile schematics, PCB revision, firmware, motor, encoder, gearing, power and thermal design for the actual build.
Repository links to mjmech and a Fusion 360 assembly for overall geometry.
Verify before adoptionConfirm exportability, edit history, dimensions, tolerances, materials and the licence attached to every external asset.
A quadruped simulator and configurations for development and comparison.
Verify before adoptionValidate actuator, contact, timing and controller assumptions against measured physical behaviour.
Layered licence reading
The project states that most files are free hardware and software under Apache-2.0.
“Most” is not “all”: inspect file headers, directories, history and external links before reuse.
mjmech and linked Fusion 360 assets must be read under their own repository or platform terms.
Do not assume that a viewable or downloadable CAD assembly carries the quad repository licence.
Controller code, PCB files, firmware and purchased hardware form a separate dependency layer.
Preserve applicable notices and confirm component documentation, firmware and hardware terms separately.
This table is a source-navigation and engineering-decision aid, not legal advice. Use original licence texts and qualified advice for an actual decision.
High-energy system validation gates
Robot configuration, every repository commit, OS/toolchain, PCB, firmware, actuator and CAD export revision.
Stop conditionStop if software, electronics and mechanics describe different robot generations.
Power limits, encoder alignment, current/torque conversion, thermal response, communication loss and watchdog behaviour.
Stop conditionNo whole-robot power-up until one complete actuator channel fails safely.
Matched commands and logs for joint motion, contacts, latency, saturation and controller timing.
Stop conditionDo not use simulation to justify dynamic motion when measured divergence is unexplained.
Low-energy gait progression, tether/support, exclusion zone, remote stop, falls, interventions and maintenance log.
Stop conditionDo not move beyond the protected lab envelope without a new hazard and evidence review.
FUURAA analysis
Learning how an open actuator controller, mechanics, host software, configurations and simulation become one working quadruped stack.
Practical instructions can encourage revision mixing, while “most files” licensing leaves exceptions that must be resolved before reuse.
Use mjbots quad as an integration case study. Reproducibility depends on a frozen dependency bill and measured failure behaviour, not only on successful compilation or simulation.
Applicability boundary