Mini Cheetah is a small, agile four-legged robot that can run and do backflips. It is robust and has powerful actuators, allowing researchers to perform experiments and test new controllers without fear of breaking the robot.
Mechanically robust design that can survive high-impact falls and accidents. Large range of motion at each joint allows operation forwards, backwards, or upside-down. High speed, high torque actuators let the robot perform extremely dynamic maneuvers like backflips. Omnidirectional movement with trotting, pronking, bounding, and pacing gaits.
30 cm | 11.8 in
48 cm | 18.9 in
27 cm | 10.6 in
9 kg | 20 lb
8.8 km/h | 5.5 mph (2.45 m/s forwards, 1 m/s sideways, in-place turning at 5 radians per second)
Vectornav VN-100 IMU, hall-effect encoders at each motor
Custom modular, low-gear ratio, backdriveable actuators with integrated electronics and high-bandwidth torque control
120-Wh lithium-ion battery for 30 minutes to 2 hours operation, depending on tasks
UP Board with quad-core Intel Atom processor for locomotion control. ST Microelectronics STM32F4 microcontroller in each actuator for joint-level control at 40 kHz
Linux with CONFIG PREEMPT RT patch
DEGREES OF FREEDOM (DOF)
18 (3 actuated DoF per leg; 6 non-actuated DoF)
Aluminum, plastic protectors