Stanford Pupper

#8dof

每条腿两个自由度（Hip Pitch, Knee Pitch），共计 8 个自由度。

特点

• 只能在 sagittal plane 运动

资料

• Pupper v3 — Pupper V3 2024 documentation
• CS 123: A Hands-On Introduction to Building AI-Enabled Robots — CS123 2025 documentation

ETH ANYmal

#12dof

每条腿 3 个自由度（Hip Abduction/Adduction, Hip Pitch, Knee Pitch），共计 12 个自由度。

• ANYmal – Robotic Systems Lab | ETH Zurich

Unitree A1

#12dof

• Unitree A1 高密集成，突破每一次运动极限 - 宇树科技

Unitree go1

• Robot Dog Go1_Bionic quadruped_Go1 robot dog function introduction | Unitree Robotics

Unitree go2

#12dof

• Unitree Go2 – UnitreeRobotics

Aliengo

#12dof

• Unitree Aliengo Multifunctional, Industrial Level Application - Unitree Robotics

MIT mini Cheetah

#12dof

• Mini cheetah is the first four-legged robot to do a backflip

SOLO 12

#12dof

• SOLO 12

Cheetah-cub

• Cheetah-Cub ‒ BioRob ‐ EPFL

S-Cheetah