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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Did You Know?
Mini Cheetah is the first quadruped robot to do a 360-degree backflip.
Mini Cheetah performed on The Tonight Show Starring Jimmy Fallon in November 2018.
MIT researchers were able to make Mini Cheetah do backflips before it could even walk.
- Mechanically robust design that can survive high-impact falls and accidents. Large range of motion at each joint allows operation forwards, backwards, or upside-down. High speed, high torque actuators let the robot perform extremely dynamic maneuvers like backflips. Omnidirectional movement with trotting, pronking, bounding, and pacing gaits.
- 30 cm | 11.8 in
- 48 cm | 18.9 in
- 27 cm | 10.6 in
- 9 kg | 20 lb
- 8.8 km/h | 5.5 mph (2.45 m/s forwards, 1 m/s sideways, in-place turning at 5 radians per second)
- Vectornav VN-100 IMU, hall-effect encoders at each motor
- Custom modular, low-gear ratio, backdriveable actuators with integrated electronics and high-bandwidth torque control
- 120-Wh lithium-ion battery for 30 minutes to 2 hours operation, depending on tasks
- 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
- Linux with CONFIG PREEMPT RT patch
- DEGREES OF FREEDOM (DOF)
- 18 (3 actuated DoF per leg; 6 non-actuated DoF)
- Aluminum, plastic protectors