Mini Pupper 2 – Raspberry Pi 4 / CM4 robot dog adds ESP32, ROS2 support, servo feedback (Crowdfunding)

Mini Pupper 2 is an improved version of the Mini Pupper robot dog powered by a Raspberry Pi 4 introduced last year. The new model support either the Raspberry Pi 4 SBC or CM4 module, adds an Arduino programmable ESP32 wireless MCU, support for ROS2, and servo feedback.

Two variants are offered with the Mini Pupper 2 implementing position servo feedback, and the Mini Pupper 2 Pro position, velocity, and torque servo feedback. Other changes common to both variants include the addition of an IMU, microphone & speaker, a touch sensor, support for autocalibration, as well as a new mobile app for control.

Mini Pupper 2

Mini Pupper 2 specifications:

  • CPU module – Raspberry Pi 4 SBC or Raspberry Pi CM4 system on module
  • MCU – ESP32 WiFi and Bluetooth dual-core microcontroller programmable with the Arduino IDE
  • Display – 320×240 LCD for facial animation
  • Audio – Built-in Microphone and speaker
  • Camera – Support for OpenCV AI Kit Lite
  • USB – Micro USB port
  • 12 DOF via MangDang’s custom servos
  • Servo feedback
    • Mini Pupper 2 – Position
    • Mini Pupper 2 Pro – Position, velocity, and torque
  • Payload – Up to 200 grams
  • Control algorithm – Close-loop and open-loop
  • Sensor
    • IMU
    • Touch sensor
    • Optional LiDAR module for SLAM (Simultaneous localization and mapping)
  • Battery – 1,000 mAh
  • Dimensions
    • Raspberry CM4 model – 210 x 110 x 140 mm
    • Raspberry Pi 4 model – 210 x 110 x 165 mm
  • Weight – 450 grams
Mini Pupper 2 Pro baseboard
Mini Pupper 2 (top) and Mini Pupper 2 Pro (bottom) baseboards

I understand the only difference between using a Raspberry Pi 4 or Raspberry Pi CM4 is that the latter enables a slightly thinner robot. The system runs Ubuntu 22.04 Linux OS with ROS2 or ROS1 robot operating system with the ability to control the robot with a keyboard, a web interface, or a mobile app. There’s no information about those just yet, but some tutorials can be found on the work-in-progress documentation website. The company also provides the source code for its robots on GitHub.

MangDang has launched the new Mini Pupper 2 on Kickstarter. Rewards include the $429 Mini Pupper 2 Basic Kit without Raspberry Pi and microSD card and the $529 Mini Pupper 2 Pro Basic Kit. There are also full kits that ship with a Raspberry Pi 4 or CM4, fully assembled kits, and a $299 upgrade kit for owners of the original Mini Pupper robot. Shipping adds $4.3 to $78 depending on the selected reward and destination country. Backers should expect their perks to ship in February 2023 if everything goes according to plans.

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