Auto-assembled, not yet reviewed

KLEIYN

Research quadruped (paper only, no released hardware) with an active waist that chimney-climbs walls; 13 DoF.

Paper only. Published as research. No hardware design files are released, so it cannot be built from source.

Lifecycle source

  • No hardware released
  • robot dog13 DoF
  • cost not published
Reproducibility0/100Sparse source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
No 3D model yet
No ready source-derived model
No URDF, SDF, MJCF, supported mesh, or supported CAD visual source file found.
No 3D model generated yet

About 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.

Licenses

Hardware
No hardware releasedresearch publication only
Software
Not published
Docs
Not published

Degrees of freedom

13 DoF legs 12waist 1

Breakdown source

QuadrupedActive waistsource

How to build KLEIYN

No build steps have been recorded. The source repository is the place to look.

Print timenot published
Assembly timenot published

KLEIYN bill of materials

Cost to build

The sources do not publish a cost total.

No itemized bill of materials is published in the sources, so none is shown here.

  • Project page and linked arXiv paper describe KLEIYN hardware, IROS 2025 status, MEVIUS-derived leg context, and chimney-climbing experiments, but do not release KLEIYN CAD, URDF, source repository, or an itemized BOM. kleiyn-project-page
  • arXiv page identifies KLEIYN as a quadruped robot with an active waist for locomotion and wall climbing, accepted at IROS 2025, but does not expose a hardware release or purchasing BOM. arxiv/2507.06562

KLEIYN source files

No files have been listed from the sources yet.

KLEIYN in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

No URDF, MJCF, SDF, USD or Onshape model has been found in the sources.

No 3D model has been generated from the project's files yet.

Builds of KLEIYN

0 reviewed

No reviewed builds of KLEIYN yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Related links

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: source-reviewed 2026-06-08.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain KLEIYN? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 0/100

Markdown
[![Motari reproducibility score for KLEIYN](https://motari.io/api/v1/badge/kleiyn)](https://motari.io/r/kleiyn)
HTML
<a href="https://motari.io/r/kleiyn"><img src="https://motari.io/api/v1/badge/kleiyn" alt="Motari reproducibility score for KLEIYN" height="20"></a>

Not fully met yet: cad / mesh present, bom evidence, wiring diagram, firmware linked, build instructions, oshw-compatible license. The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed