How to build KLEIYN
13-DoF four-legged robot dog · Expert
KLEIYN is a 13-DoF quadruped from the University of Tokyo's JSK lab that climbs between walls using a waist joint. Only the paper is public; there are no build files.
Research-grade: machining, motor drivers and control theory.
Our estimate, part-time
Price the BOM yourself
License not stated
What is KLEIYN?
KLEIYN comes from the JSK Robotics Lab at the University of Tokyo. It's a metal quadruped whose legs derive from the open MEVIUS design, with one extra waist pitch joint, for 13 DoF in all.
With the waist it can brace against two facing walls and 'chimney climb' gaps 800 to 1000 mm wide at about 150 mm/s. That behaviour is learned in simulation with contact-guided curriculum learning.
KLEIYN was published as an IROS 2025 paper. No hardware repo or files have been released, so this page is a pointer rather than a build guide. To build something related, start from MEVIUS.
KLEIYN specifications
- DoF
- 13 (12 legs + 1 waist)
- Climbing gap
- 800–1000 mm
- Climb speed
- ≈150 mm/s
- Leg lineage
- MEVIUS
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| No BOM released | — | See MEVIUS for the base leg hardware |
Where's the full bill of materials?
The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat Not published as a ballpark.
Tools you'll need
- 3D printer (PLA/PETG)
- Hex/Allen key set (metric)
- Small screwdrivers
- Calipers
- Wire strippers & crimper
- Multimeter
- Soldering iron
- Thread-locker
- Bench power supply
Step-by-step build overview
Electronics & wiring overview
Not published.
Software
Not published. The paper describes reinforcement learning with a contact-guided curriculum.
Tips from the bench
- ☕ Read the whole guide once before you print anything. Revisions often change a part or two.
- ☕ Label every cable at both ends. Future-you debugging at midnight will thank you.
- ☕ Power up new wiring from a current-limited bench supply before you connect the battery.
- ☕ No parts total is published, so price out the BOM yourself before committing.
- ☕ This is a lab-grade build. Find the project's community or paper authors before you start.
KLEIYN FAQ
Can I build KLEIYN?
Not from released files. Only the paper is public.
Sources
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
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