Mini Cheetah
Mini Cheetah
MIT Biomimetic Robotics LabUnknown
Research platformType
Quadruped Robots
Status
Research platform
Release Date
2018
Warranty
Unknown
Location
United States
Last Verified
2026-06-25
0.3 m
Height
9 kg
Weight
Unknown
Payload
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.
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Specifications
Body Specifications
Height
0.3 m
Length
48 cm
Material
Aluminum, plastic protectors
Weight
9 kg
Width
27 cm
Performance
Walking Speed
2.4444 m/s
Degrees of Freedom
Total DOF
18 DOF
Mechanical Structure
Actuator Model
Custom modular, low-gear ratio, backdriveable actuators with integrated electronics and high-bandwidth torque control
Sensors
Sensors
Vectornav VN-100 IMU, hall-effect encoders at each motor
Battery and Runtime
Runtime
2 h
Compute Platform
Onboard Compute
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
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