While building new copies of Upkie, we wrote full Build instructions for future travelers. These instructions cover all the steps from ordering to running a first balancing experiment:

1. Getting started
2. 3D printing
3. Raspberry Pi setup
4. Electronics testing
5. Motion control software
6. Assembly

They go through intermediate stages like electronics assembly:

With figures, so that new comers know (and old timers remember 😉) the orientation of each part:

In the hope these instructions help spawn and maintain many Upkie's!