With the advent of MIT Mini-Cheetah, Stanford Doggo, Open Dynamic Robot, many labs throughout the world are creating low-cost quadruped robots for research. However, these quadrupeds are still on the high end of price range (3000$ - 15000$) . The main reason is that they use BLDC motors, that are relatively expensive and require custom circuit boards to control. I aim to make an open source quadruped robot (