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Wiki Structure

The Allegro Dog Wiki is broken up into separate sections, or categories, to help in locating necessary information quickly and easily. Below you can see the top-level parent categories, the hierarchical structure and articles each category contains.

More Information: Index, About this Wiki

Booting the Allegro Dog

Multiple steps must be taken to properly and safely boot up and run the Allegro Dog internal computer and hardware. The following instructions should be followed closely. If you need any help, please contact us.

Note Refer to the Control-I/O Panel diagram for switch, button and indicator locations.

  1. Elevate the Allegro Dog
  2. Supply Required Power (24VDC)
  3. Flip On Main Power Switch
  4. Turn Computer On
  5. Release Emergency Stop
  6. Turn Motor Controller Power On
  7. Establish Remote Connection
  8. Run the Included Software
  9. Find Encoder Offsets (Homing)
  10. Enable Motor Control
  11. Assume Ready Position
  12. Walk Around

Full Booting Instructions Control-I/O Panels

More Information: Full Booting Instructions, Control-I/O Panels


The Allegro Dog comes pre-installed with SimLab's RoboticsLab™ and the RealtimeRobotics™ realtime add-on. This allows you develop Allegro Dog controllers and test them on the system in hard real time.

To facilitate the productivity of robotics researchers and engineers, RoboticsLab™ aims at providing systematic support for the whole spectrum of development from prototyping to the robust control of hardware systems. Every aspect of our software and its use has been examined from the viewpoint of the robotics engineer, greatly reducing the need for specialized knowledge in the low-level details.

RealtimeRobotics™ is a RoboticsLab™ Premium Add-on which implements a commercial RTOS-based real-time control framework for RoboticsLab™.

More Information: Software, RoboticsLab, RealtimeRobotics, Allegro Dog VS Project


The hardware section of the Allegro Dog wiki includes mechanical and electrical system information as well as assembly and maintenance information.

More Information: Hardware

Component Overview

The drawings contained in this section point out the high-level components of the Allegro Dog.

More Information: Component Overview

Kinematic Information

This section provides kinematic info including joint configuration, dimensions, joint limits, etc.

Joint Limits

Each of the Allegro Dog's four legs have identical joint limits:

Joint 0: -20˚ ~ +30˚
Joint 1: ±90˚
Joint 2: ±130˚

Warning These limits are hard mechanical limits. These limits should be avoided using software limits with a buffer region.

Joint_Limits_1.pdf Joint_Limits_2_3.pdf

More Information: Joint Limits

Link and Joint Dimensions


More Information: Dimensions, Joint Configuration, Joint Directions, Joint Coordinate Frames

TODO: Add more joint related info

Dynamic Information

TODO: Add documents. All info can be on the same page Dynamic Information

More Information: Dynamic Information

Link Masses

Link COMs

Link Inertia

Joint Locking

Joints can be locked into a stable "kneeling" position for storage or shipping.

More Information: Joint Locking

Mechanical Drawings

Drawing_Isometric.pdf Drawing_Orthographic.pdf

More Information: Orthographic Drawings


The external power port is used to supply external power or redirect battery power to the Allegro Dog. It accepts two separate 24V inputs: One input powers the power management system and the second powers the motor controllers and motors.

More Information: Power, Power Management System,

Power Management System

The Allegro Dog's power management system provides power to every Allegro Dog component. A 24V/A output powers the motor controllers and motors while a separate 24V/B line and 12 and 5V lines power the internal computer, IMU and any other devices added to the system. The power management system also limits the current supplied to the various devices and helps keep batteries healthy by limiting their drain.

Note When power is supplied to the power management system it will automatically turn on without any further action from the user. It is only powered off when the power supply is removed. Powering the internal computer and motor controllers requires further action.

More Information: Power Management System

Power Requirement

The Allegro Dog runs on 24VDC, and under normal conditions draws no more than 20 amps. The current required varies greatly with the algorithm and application. The dog can be powered via external power supplies or by multiple internal and external batteries.

Note When power is supplied to the power management system it will automatically turn on without any further action from the user. It is only powered off when the power supply is removed. Powering the internal computer and motor controllers requires further action.

Motor Controller Power

The motor controllers and motors are powered via the power management system's 24V/A output. Power to the motor controllers can be turned on using the Motor Controller/Motor Power Switch (No. 8 on the Control-I/O Panels) or the wireless remote.

More Information: Motor Controller Power

Internal Power Sources

Available directly off of the Allegro Dog's internal power management system are 24V/B, 12V and 5V internal power sources.

More Information: Internal Power Sources

Battery Power Management

While running on battery power, the battery voltage can be monitored using the LCD Panel Voltage Display on the rear of the dog. The power management system will also actively monitor the battery voltage and notify the user when the battery should be changed.

25.2 - 22.1V No sound - This is the normal operating voltage range.

22.0 - 20.6V Beep (pause) beep (pause)... - It is recommended you change the battery, but you have a few more minutes if necessary.

20.5 - 20.1V Beep beep beep beep... - You must change the battery immediately to avoid damage to the battery. The dog will soon shut down.

20.0 - 0.00V Beeeeeeeeeeeeep... - The power management system will shut down at 20V. Power to the everything is lost.

Note To keep the computer running while swapping batteries, switch just one battery at a time to ensure constant power to the power management system.

More Information: Battery Power


Batteries can be charged using the included battery charger. Look to the instructions included with the charger for how to properly charge your battery and keep them healthy.

Warning The batteries should never be discharged below 20V. The batteries are fully charged at 25.2V.


The Allegro Dog's internal computer is an Advantech MIO-5290 single board computer (SBC).

The Allegro Dog can be controlled in realtime using an external computer with RoboticsLab™ and RealtimeRobotics™ installed via CAN interface.

More Information: Internal Computer, External Computer

CAN Communication

More Information: CAN, Motor Controllers


Certain aspects of the dogs, like belt tension and passive joint stiffness, should be carefully set and maintained.

Belt Tensioning
Belt tension can be adjusted using the motor shifting mechanisms on the legs of the dogs.
Linear Joint Stiffness
The stiffness of the passive linear joints can be adjusted using a bolt to compress or decompress internal springs.