MIT Mini Cheetah (and Cheetah 3)

MIT Biomimetic Robotics Lab (US) · 2019

MIT Biomimetic Robotics Lab (US) MIT Mini Cheetah (and Cheetah 3) (1)
Not soldAbout ten units were built and loaned to other labs; control software is open source (MIT license).
Not for sale (research)BackflipOpen softwareLow-cost actuators
Not soldShipping: N/A. Never sold; commercial derivatives such as Unitree's dogs fill the role.
MIT News ↗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.

Specifications

CategoryQuadrupeds · Research & legacy platforms
Released2019
AvailabilityNot for sale (research)
ProgrammabilityOpen source (hardware + software)
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)

Ratings & reviews

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Image credits