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Mini Cheetah

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.

FEATURES

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.

HEIGHT

30 cm | 11.8 in

LENGTH

48 cm | 18.9 in

WIDTH

27 cm | 10.6 in

WEIGHT

9 kg | 20 lb

SPEED

8.8 km/h | 5.5 mph (2.45 m/s forwards, 1 m/s sideways, in-place turning at 5 radians per second)

SENSORS

Vectornav VN-100 IMU, hall-effect encoders at each motor

ACTUATORS

Custom modular, low-gear ratio, backdriveable actuators with integrated electronics and high-bandwidth torque control

POWER

120-Wh lithium-ion battery for 30 minutes to 2 hours operation, depending on tasks

COMPUTING

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

SOFTWARE

Linux with CONFIG PREEMPT RT patch

DEGREES OF FREEDOM (DOF)

18 (3 actuated DoF per leg; 6 non-actuated DoF)

MATERIALS

Aluminum, plastic protectors

COST

N/A

STATUS

Ongoing

WEBSITE

https://biomimetics.mit.edu/