How to build MEVIUS2
12-DoF four-legged robot dog · Expert
MEVIUS2 is the JSK lab's perception-equipped 12-DoF quadruped: RobStride03 motors, welded A5052 sheet metal, two Livox MID-360s and a Jetson Orin Nano.
Research-grade: machining, motor drivers and control theory.
Our estimate, part-time
$12,905 total from the MEVIUS2 parts list
MIT
What is MEVIUS2?
MEVIUS2 builds on MEVIUS and is roughly the size of Boston Dynamics' Spot. Its 12 joints use RobStride03 motors on two USB-CAN buses.
The frame has just 16 unique metal parts: 11 machined A7075 links and 5 welded A5052 sheet-metal pieces. That keeps ordering simple.
For perception it carries two Livox MID-360 LiDARs and a Tier IV C1 HDR camera, running FAST-LIO odometry and GPU elevation mapping on a Jetson Orin Nano.
MEVIUS2 specifications
- DoF
- 12
- Actuators
- RobStride03
- Compute
- Jetson Orin Nano 8GB on Seeed A603
- Perception
- 2× Livox MID-360, Tier IV C1
- Metal parts
- 16 unique
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| RobStride03 | 12 | $238.91 each |
| USB-CAN adapter | 2 | |
| Jetson Orin Nano 8GB + A603 carrier + heat sink | 1 | |
| Livox MID-360 | 2 | Marked optional, but the control IMU depends on it |
| Tier IV C1 camera | 1 | Optional |
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 $12,905 as a ballpark from the project. Start at the project repository.
Tools you'll need
- Metric hex set
- Linux PC with ROS
- Jetson flashing setup
Step-by-step build overview
Electronics & wiring overview
The paper and code use two USB-CAN adapters, even though the sheet lists one, each serving a set of legs. The LiDARs connect over Ethernet.
Software
MIT-licensed control code, URDF variants, MuJoCo models, an RL policy and a FAST-LIO pipeline are in haraduka/mevius2.
Tips from the bench
- ☕ Buy two CAN adapters. The sheet's count of one is wrong for the released code.
MEVIUS2 FAQ
How is MEVIUS2 different from MEVIUS?
It switches to RobStride03 motors and a Jetson, adds dual LiDAR and a camera, and simplifies the metalwork to 16 parts.
How much does it cost?
About $12,905 according to the authors' sheet.
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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