# Show HN: Cubic Doggo 07B Wouf: A low-cost open-source quadruped with ST3215 > Source: > Published: 2026-10-30 00:28:52+00:00 Cubic Doggo 07B Wouf is a ROS2-controlled 12-DOF untethered quadruped, built with ST3215 smart servos fully with off-the-shelf components and 3D-printed parts Featuring: * 12 ST-3215-C018 servos, usually on a bundled sale because of SO-ARM101 * Walking forward with a payload of 1 kg * Smart servos as required for closed-loop reinforcement learning capability * FreeCAD models fully available for editing * M3 screws and locknuts are used extensively (instead of glue or heat set inserts) to strengthen and secure the PLA+ printed structures. Design iterates on strengthening whichever part breaks first. Check JLCPCB for stronger components * No custom PCB (because I am terrible at it), only 2 required soldering points * Runs on a Raspberry Pi with ROS2 Jazzy installed. Joystick control ready * Walks on batteries * Aesthetics of an exposed electronic box, but great as a development platform for stacking new components on top Comments URL: [https://news.ycombinator.com/item?id=50298302](https://news.ycombinator.com/item?id=50298302) Points: 2 # Comments: 0