Stanford Pupper is a (relatively) inexpensive robot designed to help K-12 and undergraduate students get involved in exciting robotics research.
Quick specs:
Cost: $600-$900 depending if you already have any tools or parts such as a Raspberry Pi or PS4 controller.
Actuators: 12 x JX-Servo CLS6336HV
Frame material: Routed carbon fiber (you can buy the parts pre-cut here) and 3D printed PLA.
Build time: 4 – 10 hours depending on expertise. The level of difficulty is about on par to building a small quadcopter drone.
Code repository: https://github.com/stanfordroboticsclub/StanfordQuadruped
Build instructions, bill of materials, and CAD: https://docs.google.com/document/d/1Ofrtlmh0dQoEvRji5PUVH9bgwHnR-8KkTXR1eMLzXh0/edit?usp=sharing