Auto-assembled, not yet reviewed

MEVITA

Open-source 10-DoF biped built from e-commerce parts and sheet-metal welding.

Reproducibility73/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
MEVITA open-source 10-DoF biped robot, 3D render from mevita_stl.urdf
main assembly 3D · mevita_stl.urdf

About MEVITA

MEVITA is an open-source bipedal robot designed as a minimal viable configuration buildable entirely from e-commerce components. Instead of 3D-printed structures it uses sheet-metal welding to combine complex geometries into single durable parts, cutting the count to 18 unique metal components. It is driven by CubeMars quasi-direct-drive actuators (10 DoF, 5 per leg) and walks via reinforcement-learning policies trained in simulation and transferred sim-to-real. The repo ships URDF/MuJoCo models, a trained policy, and the full ROS control stack.

Licenses

Hardware
MIT
Software
MIT
Docs
Not published

Degrees of freedom

10 DoF legs 10

Breakdown source

Bipedsource

How to build MEVITA

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Source the e-commerce parts

    Order the parts in the project's parts list: 6 AK70-10 and 4 AK10-9 V2.0 KV60 motors, a Jetson Orin Nano developer kit, 2 USB-CAN converters, a Livox MID-360, the LiPo batteries, wireless e-stop, relay and diode, MISUMI mechanical parts and the metal parts. The README also links the RUBIK LINK V2.0 used to set MIT mode.

    Motari summaryharaduka.github.io/mevita-hardware

  2. Order the metal structure

    Order the metal parts from MISUMI meviy using the part numbers in the parts list or the STEP files; four parts are sheet-metal welded and the rest are machined or sheet parts. Print the TPU soles from the 3D-printer STEP files.

    Motari summaryharaduka.github.io/mevita-hardware

  3. Set the motors to MIT mode

    Download the upper computer program from the RUBIK LINK V2.0 page and set all motors to MIT mode.

    Upstream stepgithub.com/haraduka/mevita/blob/c32976a31d150a333b9b1fbab456...

  4. Assemble legs and wire the CAN bus

    Assign motor IDs L(6-10) and R(1-5), proximal to distal. Add the two USB-CAN converters to the udev rules (config/99-usb-can.rules) and run bin/can_setup.sh to bring up both CAN buses.

    Motari summaryharaduka.github.io/mevita-hardware

  5. Deploy the RL walking policy

    Build the catkin workspace, start livox.launch (the MID-360 is the control IMU), run bin/can_setup.sh and mevita_main.py with the trained policy. Test first in MuJoCo with --sim; FAST-LIO odometry is optional.

    Motari summaryharaduka.github.io/mevita-hardware
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

MEVITA bill of materials

15 rows

Cost to build

$11,518.25USDsource total
  • full parts list: 10 motors, Jetson Orin Nano, MID-360, batteries, power electronics, meviy metal parts, MISUMI mechanics; excludes screws, printed parts, RUBIK LINK$11,518.25source total

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

MEVITA parts, as the source lists them (read 2026-09-30). Prices are the source's, not checked against vendors.

MEVITA bill of materials
PartQtySpecSourceConfidence
T-Motor AK70-10 actuatorHip-Y, Hip-R and Ankle-P joints
6CubeMars AK70-10, CAN, MIT mode
CubeMars$357.73 eachMEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high
T-Motor AK10-9 V2.0 KV60 actuatorHip-P and Knee-P joints
4CubeMars AK10-9 V2.0 KV60, CAN, MIT mode
CubeMars$686.46 eachMEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high
RUBIK LINK V2.0 USB-CAN adapterconfigures motors to MIT mode
1USB to CAN, CubeMars upper-computer tool
CubeMarsprice not listedLinked in repo README hardware section
high
Livox MID-360Required: it is the control IMU; FAST-LIO odometry is optional
1360-degree LiDAR with built-in IMU
Livox$611.60MEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high
Jetson Orin Nano developer kitOff-the-shelf circuit section of the parts list
1onboard computer
NVIDIA / Amazon JP$556.67MEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high
USB-CAN converterTwo CAN buses
2USB to CAN
Amazon JP$31.20 eachMEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high
Power batteriesTwo in series for the motor bus
2HRB 6S 3300mAh 22.2V LiPo
Amazon JP$48.66 eachMEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high
Logic batteryOff-the-shelf circuit section of the parts list
1HRB 3S 6000mAh 11.1V LiPo
Amazon JP$46.66MEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high
Wireless e-stopOff-the-shelf circuit section of the parts list
1Harmony ZBRRA
Schneider Electric$137.30MEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high
Power relayOff-the-shelf circuit section of the parts list
1AEP18024
Digi-Key JP$166.37MEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high
DiodeOff-the-shelf circuit section of the parts list
1GeneSiC MBRT40040
Digi-Key JP$101.86MEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high
DC/DC boost moduleOff-the-shelf circuit section of the parts list
1KOOKYE DC-DC boost module
Amazon JP$2.62MEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high
MISUMI meviy metal partsOrdered finished from MISUMI meviy by part number or STEP upload; each part is priced in the parts list
118 part types in A5052, A7075 and SUS304; Base-Link, Hip1-Link, Hip2-Link and Calf-Motor-Mount are sheet-metal welded
MISUMI meviypriced per part in the parts listMEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high
MISUMI mechanical partsOff-the-shelf mechanics section of the parts list
1needle and ball bearings, shaft, hinge pins, dowel pins, washers, hinge, lock, handles
MISUMIpriced per part in the parts listMEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high
3D printed solesOptional TPU limiters and PLA mounts are also listed
2TPU 95A
3D print yourselfprice not listedMEVITA parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)
high

Rows from the source's own parts list 3

README.md@c32976amarkdown

Source rowQtyPrice and vendorLine
MEVITA actuators and hardware files
10 leg motors using AK70-10 and AK10-9 V2.0; 1x RUBIK LINK V2.0; hardware files on Google Drive
CubeMars / JSK Lab hardware filesnot listed
L9
MEVITA dual USB-CAN interface setup
2x USB-CAN interfaces
generic USB-CANnot listed
L53

mevita-hardwarehtml

Source rowQtyPrice and vendorLine
MEVITA fabricated structure and electronics scope
18 unique metal parts; 4 welded parts; 2x CAN-USB; emergency stop, relay, diode, LiDAR/IMU
CubeMars / Livox / fabrication / mixed electronicsnot listed
L95

MEVITA source files

11 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

MEVITA in simulation

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

The 3D specimen on this page is converted from models/mevita_stl.urdf at c32976a.

Builds of MEVITA

0 reviewed

No reviewed builds of MEVITA 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

Last push to haraduka/mevita: 2025-08-27 (checked 2026-10-01)

Related links

How this page was made

Assembled from public sources on 2026-06-07, 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: official README + project page 2026-06-07.

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

Badge: reproducibility 73/100

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

Not fully met yet: bom evidence (partial), build instructions (partial). 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