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MIT Mini Cheetah

MIT Biomimetic Robotics Lab (US) · 2019 · All MIT robots

MIT Biomimetic Robotics Lab (US) MIT Mini Cheetah (1)
Not for sale
Not for sale (research)BackflipOpen softwareLow-cost actuators
Not for saleShipping: N/A.
LEARN MORE (Cheetah-Software) ↗

Overview

The first four-legged robot to do a backflip (2019), with modular low-cost actuators that became the template for Unitree and much of the industry. MIT open-sourced the control stack, and a 2022 learned controller pushed it to 3.9 m/s. Its bigger sibling Cheetah 3 (2018) showed blind stair climbing and set a Guinness record for the highest quadruped jump.

At a glance
Type
Quadruped robot · Research & legacy platforms
Maker
MIT Biomimetic Robotics Lab (US)
Released
2019
Price
Not for sale
Status
Not for sale (research)
Best for
Professionals & labs
Programming
Open source (hardware + software)

Price and shipping

About ten units were built and loaned to other labs. Control software is open source (MIT license).

Shipping: N/A. Never sold. Commercial derivatives such as Unitree's dogs fill the role.

Specifications

CategoryQuadrupeds · Research & legacy platforms
Released2019
CountryUSA
AvailabilityNot for sale (research)
SalesAbout 10 more being built to loan to research labs (2019, estimate) MIT News ↗
Fastest Robot DogsRanked #17 by top speed
ProgrammabilityOpen source (hardware + software)
Built-in autonomyNone / scripted · Moves only when controlled, or plays preset motions
LLM supportPossible via SDK · No built-in LLM. Its SDK lets software on a computer control it.
MuJoCo simulationCommunity model · Only third-party URDFs exist, which need converting. MIT's Cheetah-Software ships meshes only. mini-cheetah-gazebo-urdf ↗
NVIDIA Isaac simulationCommunity model · MIT Improbable AI Lab's Isaac Gym code for its 3.9 m/s Mini Cheetah gait, separate from the maker's lab. rapid-locomotion-rl ↗
Gazebo simulationCommunity model · Third-party Gazebo model with MPC and WBC controllers. mini_cheetah_gazebo ↗
Best forProfessionals & labs
Vision sensorsNo vision sensors
ActuatorsBrushless / direct-drive motors
AudioNo audio
Compute typex86 PC (Intel / AMD)
ComputeUP Board (x86) + custom motor controllers
Weight~9 kg
Speed2.45 m/s (2019), 3.9 m/s with learned controller (2022)
DOF12
SensorsIMU, motor encoders
SDKOpen-source Cheetah-Software (C++, MIT license)

Common questions

How much does MIT Mini Cheetah cost?

Not for sale. About ten units were built and loaned to other labs. Control software is open source (MIT license).

Can MIT Mini Cheetah be bought today?

No. It was never sold to the public.

Who makes MIT Mini Cheetah?

MIT Mini Cheetah is made by MIT Biomimetic Robotics Lab (US). It came out in 2019.

Can MIT Mini Cheetah be programmed?

Open source (hardware + software). Open-source Cheetah-Software (C++, MIT license).

Does MIT Mini Cheetah have AI chat or LLM support?

Possible via SDK. No built-in LLM. Its SDK lets software on a computer control it.

Ratings & reviews

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Sources

MIT News ↗

Image credits