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PetoiCamp/OpenCat-Quadruped-Robot

Open-source Arduino and Raspberry Pi framework for programming quadruped robot dogs and cats, covering gait control, servos and IMU integration.

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What is it?

OpenCat is an open-source framework for building and programming quadruped robots on Arduino and Raspberry Pi. It is the software behind Petoi's Bittle robot dog and Nybble robot cat kits, and it handles gait coordination, servo control and IMU integration so developers can build their own behaviors on top.

This repository targets the legacy NyBoard platform, an ATmega328P-based Arduino board that drives up to 12 servos for walking, running, jumping and backflips. The project supports C/C++, Python and block-based coding, and can be extended with sensors, cameras and external AI co-processors such as Raspberry Pi or Jetson Nano. Setup is done through an Arduino sketch with serial-prompt calibration.

For ESP32-based current-generation hardware, the maintainers point to a separate OpenCatESP32 repository.

Key features

  • 01Gait coordination and servo control for quadruped walking, running and jumping
  • 02Supports C/C++, Python and block-based visual programming
  • 03Runs on Arduino (NyBoard) and works with Raspberry Pi
  • 04IMU calibration and sensor integration, including cameras and touch sensors
  • 05Open hardware and software that can be forked and modified

Use cases

  • Teaching robotics and coding in K-12 or university courses
  • Running gait and reinforcement learning experiments on a low-cost quadruped
  • Building hobbyist or hackathon projects with a robot dog or cat
  • Adding vision or AI co-processors to a servo-driven legged robot

Quick start

  1. 1

    Clone the repo

  2. 2

    Open OpenCat.ino and select your robot and NyBoard version

  3. 3

    Enter configuration mode, upload, and follow serial prompts

  4. 4

    Switch to the main sketch by uncommenting MAIN_SKETCH and re-upload

Things to know

  • Targets the legacy NyBoard (ATmega328P) platform; current hardware uses OpenCatESP32 instead.
  • Setup requires Arduino IDE, USB upload, and manual serial-prompt calibration.

In collections

Learning & education toolsReinforcement learning frameworks & training environmentsRobotics & embodied AI projectsEmbedded systems & microcontroller projects

Topics

#quadruped-robot#arduino#robotics#raspberry-pi#robotics-education#reinforcement-learning#embedded#ai#block-coding#education

FAQ

What is OpenCat-Quadruped-Robot?
Open-source Arduino and Raspberry Pi framework for programming quadruped robot dogs and cats, covering gait control, servos and IMU integration. OpenCat is an open-source framework for building and programming quadruped robots on Arduino and Raspberry Pi. It is the software behind Petoi's Bittle robot dog and Nybble robot cat kits, and it handles gait coordination, servo control and IMU integration so developers can build their own behaviors on top.
Is OpenCat-Quadruped-Robot free to use? What license does it have?
OpenCat-Quadruped-Robot is open source under the MIT license. Check the license terms before using it in commercial products.
Is OpenCat-Quadruped-Robot still maintained?
Updated within 6 months. The last commit to OpenCat-Quadruped-Robot was on Sep 8, 2026.
What can I use OpenCat-Quadruped-Robot for?
Teaching robotics and coding in K-12 or university courses Running gait and reinforcement learning experiments on a low-cost quadruped Building hobbyist or hackathon projects with a robot dog or cat Adding vision or AI co-processors to a servo-driven legged robot
How do I install OpenCat-Quadruped-Robot?
Clone the repo Open OpenCat.ino and select your robot and NyBoard version Enter configuration mode, upload, and follow serial prompts Switch to the main sketch by uncommenting MAIN_SKETCH and re-upload
Where can I get OpenCat-Quadruped-Robot?
The source code and installation instructions are on GitHub: https://github.com/PetoiCamp/OpenCat-Quadruped-Robot

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