Properties
ProjectIn Progress
Start Date
August 15, 2026
I am currently developing and testing my CAD redesign of an improved version of the mit mini cheetah supported by analysis.
Context
The MIT Mini Cheetah is a quadruped for research purposes. I am working on redesign the mini cheetah’s form to make it more polished without compromising its structural integrity.
Problem Statement
While the Mini Cheetah is a powerful research quadruped, its appearance lacks the aesthetics that make us humans feel comfortable in its presence.
Original Design assessment
Power flow
Signal path
Subsystem | Components | Design Role | Constraint |
Hip Actuator | |||
Ab/Ad Actuator | |||
Leg Transmission | |||
Control System | |||
Power System |
Design Goals
- Sleeker profile
- Enclosed cabling
- Modular skin components
- Retention of joint DoF and actuator power
Constraints
- Actuator clearance
- Torque & heat dissipation
- Weight/mass distribution
- Manufacturability
Concept Sketches
Drawing inspiration from the uncanny valley effect and capybaras
