KLEIYN

KLEIYN is a metal quadruped from the JSK Robotics Laboratory at the University of Tokyo that adds a 1-DoF active waist joint to a conventional 12-DoF quadruped, giving it 13 DoF total (3 per leg plus the torso pitch). The waist lets it brace its legs against two opposing walls and perform 'chimney climbing,' ascending gaps 800-1000 mm wide at roughly 150 mm/s. Locomotion and climbing are learned in simulation with a Contact-Guided Curriculum Learning (CGCL) scheme. The leg design is derived from MEVIUS, an open-source metal quadruped, but KLEIYN itself is published as an IROS 2025 research robot (arXiv:2507.06562) without a released hardware/CAD package.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• No renderable source model has been selected yet, so the viewer shows a source-model-pending preview.
• Source-backed bill-of-materials evidence is linked with per-part provenance where available. Prices marked estimated are not yet verified against a vendor.
• A transparent reproducibility score so buildability is a sortable, first-class property.
• Cross-links to the source repo, datasets, models, and forks.

Source

Canonical source: keitayoneda.github.io/kleiyn-chimney-climbing. Original files stay intact and separately licensed under NOASSERTION; Motari adds a separate, adjacent metadata layer.