Assembly has to be worked out from the full STEP model and the screw list, since there are no written steps, and the parts cost about $13,000.
MEVIUS2 is a Spot-sized, all-metal research quadruped from the University of Tokyo, published in IEEE Robotics and Automation Practice in 2026. Its machined and welded aluminum parts are ordered by part number from MISUMI's meviy service, and it carries two LiDARs and an HDR camera on a Jetson. It is a larger, sensor-equipped follow-up to MEVIUS.
At a glance
| Parts cost | $12,900 project · Total of the project's parts list, ¥1,935,801 at its own rate of 150 yen per dollar. About $2,090 of it is the LiDARs and camera, which the list marks as optional source ↗ |
|---|---|
| Difficulty | 5/5 Expert · Outsourced machined and welded aluminum parts, a series pair of 6S LiPos (about 44 V) with relay and e-stop, and a ROS 1 plus reinforcement learning software stack. |
| Build time | Not stated |
| Tools needed | Outsourced CNC machining and sheet metal welding (ordered from meviy by part number or STEP upload), 3D printer (TPU 95A feet and bumpers, plus PLA mounts and covers), soldering and wiring for the power system (unconfirmed) |
| Motors | 12 RobStride03 actuators (20 N·m continuous, 60 N·m peak) on two CAN-USB adapters, with a parallel linkage driving each knee |
| Controller | NVIDIA Jetson Orin Nano 8GB on a Seeed reComputer A603 carrier board |
| Sensors | 2 Livox Mid-360 LiDARs and a Tier IV C1 HDR camera (both marked optional in the parts list), plus a Schneider Harmony wireless e-stop |
| Published | ✓ Parts list✓ CAD/STL✗ Assembly guide✓ Wiring✓ Software✗ Video GitHub README (software setup), Google Drive folder with a parts spreadsheet, STEP files and a full assembly STEP, plus the paper |
| Activity | Last update 2026-08-31 · 175 GitHub stars · 21 forks on GitHub, with 6 issues (all closed) that the author answered |
| Kits | None known |
Licenses
No license is stated for the design files. They are published for building, but without a license the right to copy, modify or redistribute them is not granted.
| Design files | None found for the STEP files and parts list on Google Drive (the repo's MIT license covers its URDF and STL meshes) source ↗ |
|---|---|
| Code | MIT source ↗ |
| Documentation | None found (project page and Drive README state no license; the arXiv paper uses arXiv's non-exclusive distribution license) source ↗ |
Builder notes
Practical points from the project's issue tracker, forum and docs, each linked to its source.
- The parts spreadsheet has a second tab, MEVIUS2.0.1, where the hip links become machined A7075 and the hip limit stops become welded sheet metal. That raises the total by about $200. source ↗
- A builder found the hip joint stops in the STEP files sit in a different place than the URDF assumes. The author believes the URDF is correct, since the stops were moved late in the design. source ↗
- The motor code has no zeroing command. Joint offsets are set by pushing each joint against its mechanical limit and entering the angle in parameters.py. source ↗
- The USB CAN adapters need the gs_usb driver. Seeed's A603 system image includes it, but a stock Jetson developer kit needs a kernel rebuild. The A603's own CAN port can also clash with the setup script's can0 name. source ↗
- The stack is ROS 1 (ROS-O on Ubuntu 22.04 and later). The author has said a ROS 2 port would be welcome but none exists yet. source ↗
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