How to build MEVITA
10-DoF bipedal walker · Expert
MEVITA is a 10-DoF open biped built entirely from e-commerce parts using welded sheet metal, CubeMars actuators, a Jetson Orin Nano and RL policies.
Research-grade: machining, motor drivers and control theory.
Our estimate, part-time
$11,518.25 for the full parts list (project sheet, converted to USD)
MIT
What is MEVITA?
MEVITA, from Kento Kawaharazuka and colleagues at the University of Tokyo, asks how simple an RL-walking biped can be if every part is ordered online. Instead of 3D printing, it uses welded sheet metal from on-demand services, which combines complex shapes into just 18 unique metal parts.
Ten CubeMars quasi-direct-drive actuators move the legs, five per leg. Policies trained in simulation transfer straight to the real robot.
The repo includes URDF and MuJoCo models, a trained policy, the ROS control stack and a full parts list.
MEVITA specifications
- DoF
- 10 (5 per leg)
- Actuators
- 6× AK70-10, 4× AK10-9 V2.0
- Compute
- Jetson Orin Nano
- IMU
- Livox MID-360 built-in IMU
- Structure
- 18 welded sheet-metal parts
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| CubeMars AK70-10 | 6 | Hip yaw/roll, ankle pitch |
| CubeMars AK10-9 V2.0 KV60 | 4 | Hip and knee pitch |
| Livox MID-360 | 1 | Provides the control IMU |
| Jetson Orin Nano dev kit | 1 | |
| USB-CAN converters | 2 | |
| Sheet-metal parts (meviy), MISUMI mechanics, batteries | — |
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 $11,518 as a ballpark from the project. Start at the project repository.
Tools you'll need
- CubeMars RUBIK LINK for motor setup
- Hex drivers
Step-by-step build overview
Electronics & wiring overview
Two USB-CAN converters on the Jetson each drive one CAN bus of actuators. The MID-360 connects over Ethernet.
Software
ROS control stack, URDF/MuJoCo models and a trained RL policy; FAST-LIO odometry is optional.
Tips from the bench
- ☕ The MID-360 is required even without lidar mapping, because its IMU feeds the controller.
MEVITA FAQ
Why sheet metal instead of printing?
Welded sheet metal from online services makes strong single-piece parts and keeps the unique part count to 18.
How much does MEVITA cost?
The project's parts list totals about $11,500.
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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