5. Is Mini Cheetah currently available for purchase?

Mini Cheetah is not available as a commercial product from MIT. Researchers and builders source parts to assemble versions based on its open designs.

6. How does Mini Cheetah perform in real-world environments and rough terrain?

Mini Cheetah can trot over uneven terrain and recover from disturbances like being pushed over. MIT reports it maintains balance during impacts and operates on varied surfaces.

7. When was Mini Cheetah announced or officially launched?

MIT announced Mini Cheetah in 2019, with development documented from 2018. It remains an ongoing research platform.

8. How does Mini Cheetah compare to other quadruped robot dogs?

Compared to larger predecessors like the full-size Cheetah, Mini Cheetah is smaller and more agile, achieving feats like backflips first among four-legged robots according to MIT.

9. Does Mini Cheetah support third-party software development or SDKs?

Mini Cheetah uses open-source software compatible with Linux and custom controllers. Third-party builds integrate controllers like D-Robotics S100 or NVIDIA Jetson for development.

10. What is the future roadmap or planned upgrades for Mini Cheetah?

MIT has not announced a specific public roadmap. Community efforts continue replicating and enhancing the design with modern compute platforms.

🐕 Robot Dog• prototype• mini

Mini Cheetah

by MIT

Released: 2018

💰 Research prototype, not commercially available

The Mini Cheetah is a compact quadrupedal robot developed by MIT researchers, designed for dynamic locomotion and acrobatic maneuvers. Measuring 48 cm in length, 30 cm in height, and 27 cm in width, it weighs approximately 9 kg. Each of its four legs features three identical high-torque, low-inertia motor modules, providing 3 degrees of freedom per leg and 12 actuated degrees of freedom total, plus 6 non-actuated for a total of 18 DOF. It integrates a Vectornav VN-100 IMU, hall-effect encoders, and an onboard UP Board with quad-core Intel Atom processor running Linux for real-time control. The robot excels in high-speed trotting up to 8.7 mph (3.84 m/s) on uneven terrain, performs backflips and other gymnastic feats, supports omnidirectional gaits like pronking, bounding, and pacing, and can turn in place at 5 rad/s. Its modular, backdrivable actuators with 6:1 gear reduction enable resilience to high-impact falls and rapid force changes for jumping and agile movements. Primarily targeted at robotics research, it demonstrates advanced control for locomotion, recovery, and learning-based adaptation.

3.84 m/s

Max Speed

Total DOF

30-120 min

Runtime

2 kg (Stable locomotion); up to 4 kg (Static) kg

Max Payload

Full Specifications

Body Length480 mm

Standing Height300 mm

Body Width270 mm

Weight9 kg

Number of Legs4

Total DOF18

DOF Per Leg3

Materialsaluminum, plastic protectors

Supported Gaitstrot, pronking, bounding, pacing

Max Speed3.84 m/s

Max Climb Angle25°

Vertical Leap0.8 m (Vertical jump); 1.8 m (Optimization-based leap) m

Max Step Height13 cm (Autonomous) / 20 cm (Manual leap) cm

Terrain CapabilitiesUneven terrain, loose gravel, grass, and gaps (via TMIC vision system)

Other Notable Features

self-righting capability, survives high-impact falls, modular design for repairs, omnidirectional movement, in-place turning at 5 rad/s

Image Gallery

Below images are from MIT's official sources

Review Videos

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Frequently Asked Questions

Get answers to common questions about this robot

Q1. What is the robot dog Mini Cheetah, and what problem does it solve?

Mini Cheetah is a quadruped robot developed by MIT researchers. It addresses challenges in testing dynamic locomotion controllers by providing a mechanically robust platform that withstands high-impact falls and accidents.

Q2. What are the main capabilities and key features of Mini Cheetah?

Mini Cheetah demonstrates agile maneuvers including backflips, trotting, bounding, and omnidirectional movement. According to MIT, it features high-torque actuators and a large range of motion per joint for dynamic operations.

Q3. Who is Mini Cheetah built for, and which industries benefit from it?

Mini Cheetah is designed for robotics researchers at institutions like MIT. It benefits academic research in locomotion control and could inform developments in fields requiring robust quadruped platforms.

Q4. Is Mini Cheetah a commercial product or a research prototype?

Mini Cheetah is a research prototype developed by MIT. Its open-source design allows replication by hobbyists and developers using compatible hardware.