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Mini Cheetah

Mini Cheetah

Lightweight, agile quadruped robot capable of running at 8.7 mph, performing backflips, self-righting, and omnidirectional movement, designed for robotics research.
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Specifications
Dev Doc
Website
Made by
MIT Biomimetic Robotics Laboratory
Software Type
Closed Source
Software Package
Linux-based OS with real-time scheduling. Custom control and locomotion algorithms. Supports simulations and reinforcement learning for gait development.
Actuators
Custom modular, low-gear ratio, backdriveable electric actuators with integrated electronics and high-bandwidth torque control (three actuators per leg).
Compiute
UP Board with quad-core Intel Atom processor for locomotion control. Motor control via STM32F4 microcontrollers embedded in each actuator running at 40 kHz.
Sensors
Vectornav VN-100 IMU for orientation and acceleration sensing. Hall-effect encoders on each motor for precise joint position and speed feedback.
Max Op. time
120
mins
Research
USA
Quadrupedal
2018
Pricing
Not provided.

Robot Brief

The Mini Cheetah is an agile, lightweight quadrupedal robot developed at MIT's Biomimetic Robotics Lab, designed to exhibit gymnastic-level agility and dynamic locomotion. Weighing just 20 pounds (9 kg), it features a modular design with three low-cost electric motors per leg, enabling a wide range of motion, including walking upside down and performing 360-degree backflips. Its robust build allows it to quickly right itself after falls or impacts, demonstrating resilience and versatility for dynamic tasks.

Use Cases

  • Dynamic Locomotion: Runs up to 8.7 mph (14 km/h), trotting over uneven terrain roughly twice as fast as an average person’s walking speed.
  • Gymnastic Maneuvers: Performs flips, including a complete 360-degree backflip from standing position.
  • Self-Righting: Quickly recovers from being knocked over using coordinated limb movements.
  • Omnidirectional Movement: Capable of moving forwards, backwards, sideways, trotting, pronking, bounding, and pacing, with in-place turning at 5 radians/second.
  • Modular & Repairable: Motor and limb components are modular to facilitate quick repairs and upgrades.

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Industries

  • Dynamic Locomotion: Runs up to 8.7 mph (14 km/h), trotting over uneven terrain roughly twice as fast as an average person’s walking speed.
  • Gymnastic Maneuvers: Performs flips, including a complete 360-degree backflip from standing position.
  • Self-Righting: Quickly recovers from being knocked over using coordinated limb movements.
  • Omnidirectional Movement: Capable of moving forwards, backwards, sideways, trotting, pronking, bounding, and pacing, with in-place turning at 5 radians/second.
  • Modular & Repairable: Motor and limb components are modular to facilitate quick repairs and upgrades.

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Specifications

Length
-
48
mm
Width
-
27
mm
Height (ResT)
-
mm
Height (Stand)
-
30
mm
Height (Min)
mm
Height (Max)
mm
Weight (With Batt.)
-
9
kg
Weight (NO Batt.)
-
kg
Max Step Height
-
mm
Max Slope
+/-
-
°
Op. Temp (min)
-
°C
Op. Temp (Max)
-
°C
Ingress Rating
-
No items found.

Intro

Mini Cheetah is a compact robot (48 cm length, 30 cm height, 27 cm width) weighing about 9 kg. Each leg has three identical, off-the-shelf motor modules providing three degrees of freedom, resulting in 18 actuated degrees of freedom total. The robot integrates high-torque, high-speed actuators, an inertial measurement unit (IMU), hall-effect motor encoders, and a powerful onboard Intel Atom processor running Linux for real-time control. Its robust design uses aluminum and plastic guards and supports dynamic behaviors unachievable by many heavier robots.

Connectivity

  • Onboard processor runs Linux with real-time kernel (PREEMPT_RT patch).
  • Communication interfaces support integration with external systems (details sparse).

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Capabilities

  • High-Speed Locomotion: Can trot at speeds of nearly 9 km/h on uneven terrain.
  • Dynamic Acrobatic Maneuvers: Capable of complex gymnastic feats including backflips and flips.
  • Resilience: Survives high-impact falls with modular parts easily replaced if damaged.
  • Versatile Gaits: Supports multiple gaits such as trotting, bounding, pronking, and pacing.
  • Fast Turning: Can turn on the spot at 5 radians per second for agile direction changes.

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