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Mini Cheetah

Details

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.

Creator
MIT Biomimetic Robotics Lab
Country
United States πŸ‡ΊπŸ‡Έ
Year
2018
Type
Research
Creator
MIT Biomimetic Robotics Lab
Country
United States πŸ‡ΊπŸ‡Έ
Year
2018
Type
Research

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Specs

FEATURES
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.
HEIGHT
30 cm | 11.8 in
LENGTH
48 cm | 18.9 in
WIDTH
27 cm | 10.6 in
WEIGHT
9 kg | 20 lb
SPEED
8.8 km/h | 5.5 mph (2.45 m/s forwards, 1 m/s sideways, in-place turning at 5 radians per second)

SENSORS
Vectornav VN-100 IMU, hall-effect encoders at each motor
ACTUATORS
Custom modular, low-gear ratio, backdriveable actuators with integrated electronics and high-bandwidth torque control
POWER
120-Wh lithium-ion battery for 30 minutes to 2 hours operation, depending on tasks
COMPUTING
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
SOFTWARE
Linux with CONFIG PREEMPT RT patch
DEGREES OF FREEDOM (DOF)
18 (3 actuated DoF per leg; 6 non-actuated DoF)
MATERIALS
Aluminum, plastic protectors
COST
N/A
STATUS
Ongoing
WEBSITE
https://biomimetics.mit.edu/