barkour_robot

Barkour Robot is a quadruped physical design by google-deepmind. It requires PCB fabrication, soldering, and electronics assembly skills. MuJoCo is the lis…

Source repository: https://github.com/google-deepmind/barkour_robot

Project facts

Category: quadruped
Kind: physical design
License: NOASSERTION
GitHub stars: 369
BOM lines indexed: 369
Last updated: 2026-08-26

Bill of materials (369 lines)

Cap Ceramic 1uF 6.3V X5R ±20% Pad SMD 0201 +85°C T/R — 4 each (purchased, unresolved)
CAP CER 10000PF 50V 20% X7R 0402 — 1 each (purchased, unresolved)
CAP CER 0.1UF 50V X5R 0402 — 2 each (purchased, unresolved)
TVS Diode (Bi-directional) — 1 each (purchased, unresolved)
LED ORANGE CLEAR 1006 SMD — 1 each (purchased, unresolved)
LED RED CLEAR CHIP SMD — 1 each (purchased, unresolved)
LED BLUE CLEAR 0402 SMD — 1 each (purchased, unresolved)
Connector — 1 each (purchased, unresolved)
Connector — 1 each (purchased, unresolved)
PCB — 1 each (purchased, unresolved)
RES SMD 200 OHM 1% 1/10W 0402 — 3 each (purchased, unresolved)
Thermistor — 1 each (purchased, unresolved)
SENSOR, ANGLE, 9 BIT TO 14 BIT RESOLUTION, 14-BIT PWM OUTPUT, 3.3V, 12mA, QFN-16 — 1 each (purchased, unresolved)
Ultralow Noise, 150 mA CMOS Linear Regulator, 2.2 to 5.5 V Vin, 3.3 V Vout, Industrial, 5-pin SOT23 (UJ-5), Reel — 1 each (purchased, unresolved)
CAP, CER, X7R, 0.01uF, 50V, 20%, 0402, 0.56mm T, CAP, CER, X5R, 10uF, 10V, 20%, 0402, 0.7mm T, CAP, CER, X5R, 0.1uF, 10%, 50V, 0402, 0.55mm, CAP, CER, X7R, 0.015uF, 25V, 10%, 0402, 0.56mm T, CAP, CER, X5R, 4.7uF, 20%, 6.3V, 0402, 0.65mm, CAP, CER, X7R, 3900pF, 50V, 10%, 0402, 0.56mm T — 22 each (purchased, unresolved)
CAP, CER, X6S, 0.1uF, 10V, 10%, 0201, AUTOGRADE — 51 each (purchased, unresolved)
CAP, CER, X5R, 0.01uF, 16V, 10%, 0201, 0.33mm T, CAP, CER, X7R, 220pF, 16V, 10%, 0201, 0.33mm T, CAP, CER, X7R, 100pF, 25V, 10%, 0201, 0.33mm T, CAP, CER, X7R, 0.01uF, 10V, 10%, AUTO GRADE, 0201, 0.33mm T, CAP, CER, NP0, 3.3pF, 50V, +/-0.25pF, 0201, 0.33mm T, CAP, CER, NP0, 10pf, 50V, 5%, 0201, 0.33mm T — 14 each (purchased, unresolved)
CAP, CER, NP0, 15pF, 25V, 5%, 0201, 0.9mm T, CAP, CER, X5R, 1uF, 6.3V, 20%, 0201, 0.33mm T, CAP, CER, X5R, 2.2uF, 6.3V, 20%, 0201, 0.39mm T, CAP, CER, X5R, 3300pF, 10V, 10%, 0201, 0.33mm T — 7 each (purchased, unresolved)
CAP, CER, X5R, 10uF, 50V, 20%, 1210 — 2 each (purchased, unresolved)
CAP, CER, X7R, 47uF, 16V, 20%, AUTO GRADE, 2220, 2.5mm T — 5 each (purchased, unresolved)
CAP, CER, X7S, 1000PF, 2KV, 10%, 1210 — 2 each (purchased, unresolved)
TVS, DIODE, UNIDIR, 3.3VRWM, 4.8VBR, 7.8VCL, SOD-923 — 22 each (purchased, unresolved)
DIODE, TVS, UNIDIR, DUAL, 24VRWM, 26VBR, 41VCL, SOT-23-3 — 1 each (purchased, unresolved)
DIODE, SCHOTTKY, 30V VRRM, 1A IO, 12A SURGE, SOD-123 — 1 each (purchased, unresolved)
DIODE, SCHOTTKY, 60V, 3A, DO220AA — 1 each (purchased, unresolved)
FERRITE, BEAD, 600OHMS @100MHZ, 25%, 250mA, 900 mOHM DCR, 0201 — 1 each (purchased, unresolved)
LAIRD - MI0603L221R-10 - Ferrite Bead, 0603 [1608 Metric], 220 ohm, 2 A, MI Series, 0.05 ohm — 2 each (purchased, unresolved)
FERRITE, BEAD, 220 OHM, 150mA, DCR 0.25 MAX, 1206 — 1 each (purchased, unresolved)
CONN, HDR, SHRD, RA, 2x10, 1.27MM P, 6.02MM h, GOLD, TH — 1 each (purchased, unresolved)
CONN, RCPT, FEMALE, 30 P, 1.27MM, 2.45MM H, GOLD, SMD — 2 each (purchased, unresolved)
Conn HDR 10 POS 2.5mm Solder RA Thru-Hole 10 Terminal 1 Port — 2 each (purchased, unresolved)
CONN RCPT .05" 8POS DUAL SMD — 1 each (purchased, unresolved)
IND, WIREWOUND, SHIELDED, 2.2uH, 2.1A, 20%, DCR 0.11, SMD, AUTOGRADE — 1 each (purchased, unresolved)
COILCRAFT LPS3015-473MRB INDUCTOR, SHLD, 47UH, 20%, 0.3A, SMD — 1 each (purchased, unresolved)
FIXED IND 18UH 3.1A 51 MOHM SMD — 1 each (purchased, unresolved)
LED, YELLOW, 591NM, 10mA, CLEAR, 0201 — 2 each (purchased, unresolved)
LED, ORANGE, 611NM, 10mA, CLEAR, 0201 — 3 each (purchased, unresolved)
LED, GREEN, 574nm, 2mA, CLEAR, 0402 — 3 each (purchased, unresolved)
LED, RED, 640NM, 2mA, CLEAR, 0402 — 1 each (purchased, unresolved)
3.7mm hole 5mm pad — 3 each (purchased, unresolved)
MORELLO MIC MULTIMODE DGT BOT PT — 2 each (purchased, unresolved)
PCB — 1 each (purchased, unresolved)
MOSFET, N-CH, 30V, 0.55A, DMN3900 — 1 each (purchased, unresolved)
Resistor, 432K Ohms, 0805, 0.125W, ±1% — 3 each (purchased, unresolved)
RES, 10K, 1%, 1/20W, 0201, AUTOGRADE, RES, 49.9, 1%, 1/20W, 0201, AUTOGRADE, RES, 22.1, 1%, 1/20W, 0201, AUTOGRADE, RES, 68, 1%, 1/20W, 0201, AUTOGRADE, RES, 1K, 1%, 1/20W, 0201, AUTOGRADE, RES, 4.7K, 1%, 1/20W, 0201, AUTOGRADE, RES, 68.1K, 1%, 1/20W, 0201, AUTOGRADE — 64 each (purchased, unresolved)
RES, JUMPER, 0, 1/10W, 0603 — 2 each (purchased, unresolved)
RES, 1.0, 5%, 1/20W, 0201, Resistor, 10.2K Ohms, 0201, 0.05W, ±1%, RES, 1.96K, 1%, 1/20W, 0201, Resistor, 86.6K Ohms, 0201, 0.05W, ±1%, Resistor, 13.3K Ohms, 0201, 0.05W, ±1%, RES, 3.24K, 1%, 1/20W, 0201, Resistor, 2.20K Ohms, 0201, 0.05W, ±1% — 9 each (purchased, unresolved)
RES, 75, 1%, 1/16W, 0402, RES, 0, JUMPER, 1/16W, 0402 — 9 each (purchased, unresolved)
RES Thick Film, 0Ω, 0.063W, 0402 — 1 each (purchased, unresolved)
Telecom Transformer 2(1:1) 0.65Ohm Prim. DCR 0.65Ohm Sec. DCR 16 Terminal Gull Wing SMD — 2 each (purchased, unresolved)
PC TEST POINT TH RING — 2 each (purchased, unresolved)
HW, TEST POINT, NO SILKSCREEN, PC MINIATURE, 0.25mm T, 1.52mm HEIGHT, SILVER PLATING, SMT — 2 each (purchased, unresolved)
SENSOR, MOTION, IMU, ACCELEROMETER/GYROSCOPE/MAGNETOMETER, I2C, SPI, LGA-24 — 1 each (purchased, unresolved)
IC, MCU, STM32H755xI, ARM, 32-BIT, 240MHZ, 128 I/O, 2MB, FLASH, 1.62V TO 3.6V, UFBGA-201 — 1 each (purchased, unresolved)
Microchip MCP6064-E/ST; Quad Op Amp; 0.73MHz CMOS; Rail to Rail; 3V; 5V; 14-Pin TSSOP — 2 each (purchased, unresolved)
IC, CONTROLLER, TMC8462, ETHERNET, 100Mb, SPI, PWM O/P, 100mA, BGA-121 — 1 each (purchased, unresolved)
IC, MEMORY, M24256, EEPROM, 256Kb, I2C, 1MHz, MLP-8, AUTOGRADE — 1 each (purchased, unresolved)
Conv DC-DC Single Step Down 3.5V to 28V 8-Pin SOIC T/R — 2 each (purchased, unresolved)
Single Output Fast Transient Response LDO, 250 mA, Fixed 3.3 V Output, 2 to 5.5 V Input, with Ultra-Low IQ, 6-pin WSON (DSE), -40 to 125 degC, Green (RoHS & no Sb/Br) — 1 each (purchased, unresolved)
OSC, MEMS, XO, 100MHZ, +/-25PPM STAB, LVCMOS, 3.3V, SMD-4, AUTOGRADE — 1 each (purchased, unresolved)

Repository files indexed (53)

9 CAD models, 12 bill-of-materials files, 16 firmware files, 6 configuration files, 6 documents, 4 images. Paths are exactly as they appear in the project's repository; RoboPartPicker lists only files it has actually indexed.

CAD models (9)

hardware/electronics/ada/Project Outputs for Ada/ExportSTEP/Ada.step
hardware/electronics/cortes/Project Outputs for Cortes/ExportSTEP/Cortes.step
hardware/electronics/feifei/Project Outputs for Power_Distro/ExportSTEP/Fei-Fei.step
hardware/electronics/gebru/Project Outputs for Gebru/ExportSTEP/Gebru.step
hardware/electronics/grace/Project Outputs for Grace/ExportSTEP/Grace.step
hardware/electronics/hamilton/Project Outputs for Hamilton/ExportSTEP/Hamilton.step
3 more CAD models are indexed in the catalogue.

bill-of-materials files (12)

hardware/barkour_robot_bill_of_materials.csv
hardware/electronics/ada/Project Outputs for Ada/BOM/Bill of Materials-Ada.xlsx
hardware/electronics/cortes/Project Outputs for Cortes/BOM/Bill of Materials-Cortes.xlsx
hardware/electronics/feifei/Project Outputs for Power_Distro/BOM/Bill of Materials-Fei-Fei.xlsx
hardware/electronics/gebru/Project Outputs for Gebru/BOM/Bill of Materials-Gebru.xlsx
hardware/electronics/grace/Project Outputs for Grace/BOM/Bill of Materials-Grace.xlsx
6 more bill-of-materials files are indexed in the catalogue.

firmware files (16)

actuator/ethercat_eeprom/barkour_robot_sii.bin
actuator/ethercat_eeprom/barkour_robot_sii.hex
actuator/ethercat_host/canopen.h
actuator/ethercat_host/constants.h
actuator/ethercat_host/custom_objects.h
actuator/ethercat_host/ds301_objects.h
10 more firmware files are indexed in the catalogue.

configuration files (6)

actuator/firmware/scripts/openocd_configs/openocd.cfg
hardware/cable_drawings/14a_NUC_ECAT_DFB/14a_NUC_ECAT_DFB.yaml
hardware/cable_drawings/14b_NUC_ECAT_TORSO/14b_NUC_ECAT_TORSO.yaml
hardware/cable_drawings/15_A2H_ECAT/15_A2H_ECAT.yaml
hardware/cable_drawings/16_H2K_ECAT/16_H2K_ECAT.yaml
hardware/cable_drawings/17_K2H_Cover_ECAT/17_K2H_Cover_ECAT.yaml

documents (6)

CONTRIBUTING.md
LICENSE
README.md
docs/actuated_head_assembly.md
docs/actuator_assembly_and_setup.md
docs/barkour_rom.md

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