Auto-assembled, not yet reviewed

MEVIUS

12-DoF quadruped built from e-commerce parts and MISUMI meviy sheet-metal and machined frame parts.

MIT
robot dog12 DoF
$12,390.09source total

Reproducibility73/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed

MEVIUS open-source 12-DoF robot dog, 3D render from mevius.urdf

main assembly 3D · mevius.urdf

Source record

Source: haraduka/mevius @35fdb6c
255 stars, last push 2025-06-10
HW license: MIT
Cost: $12,390.09source total, parts list: 12 AK70-10, NUC12WSKi7, ESD CAN-USB/2, T265, batteries, power electronics, meviy metal parts, MISUMI mechanics; excludes screws and printed parts
Lifecycle: Active
Engine: v3.1.1
Checked: 2026-10-01
Model: mevius.urdf@35fdb6crendered 2026-06-08
Envelope: 674 × 464 × 349 mmas modelled, default pose

Maintain MEVIUS? Claim this page to correct it.

MEVIUS reproducibility score

How confidently this design builds into a working robot, from what its sources publish: each criterion's points, quality tier and evidence.

metCAD / mesh presentReviewedPublic Google Drive file mevius_assembly.STEP, the full SolidWorks assembly, with per-part STEP folders beside it. The engine does not open Drive links.20/20
Quality tier 3 of 3
Reviewed override, 2026-09-30
Evidence on drive.google.com
Engine alone: partial at tier 2 (13 mesh files; no editable CAD source in the repo)
- models/meshes/BL_calf_link.STL35fdb6c
- models/meshes/BL_scapula_link.STL35fdb6c
partialBOM evidenceBOM spreadsheet linked, not inspected by the engine10/20
Quality tier 1 of 5
- linked BOM spreadsheet
metWiring diagramReviewedProject page "Circuit Configuration" figure is a wiring diagram of batteries, diode, relay, e-stop, DC/DC converters, CAN-USB, motors, PC and T265. The engine does not read it.15/15
Quality tier 2 of 3
Reviewed override, 2026-09-30
Evidence on haraduka.github.io
Engine alone: missing at tier 0 (no wiring diagram found)
metFirmware linkedhost control code in the repo, no MCU firmware10/10
Quality tier 2 of 3
- package.xml35fdb6c
partialBuild instructionsexternal build guide linked, not inspected by the engine7.5/15
Quality tier 1 of 3
- guide on haraduka.github.io, not inspected by the engine
metOSHW-compatible licenseMIT (from repository license)10/10
Quality tier 2 of 2
- LICENSE35fdb6c
missingKnown reproductionsno verified builds yet0/10
Quality tier 0 of 2
Only build reports a maintainer or admin has reviewed count here.

Engine v3.1.1 at 35fdb6c, 2 items reviewed by hand

How this score is computed

About MEVIUS

MEVIUS is a medium-sized 12-DoF quadruped robot from the JSK Lab (University of Tokyo), designed to be reproducible by ordering off-the-shelf parts and the sheet-metal welded and machined frame parts from MISUMI meviy. Each of the four legs has three CubeMars AK70-10 quasi-direct-drive motors run in MIT mode over CAN. The repository ships the full URDF, STL meshes, a MuJoCo scene, and a trained reinforcement-learning walking policy (policy.pt) plus the ROS control stack; the mechanical CAD is distributed via Google Drive. Presented at IEEE-RAS Humanoids 2024 (arXiv:2409.14721). The same lab released MEVIUS2 in 2026, and the Intel RealSense T265 it uses is discontinued.

Licenses

Hardware: MIT
Software: MIT
Docs: Not published

Degrees of freedom

12 DoF legs 12

Breakdown source

Quadrupedsource

How to build MEVIUS

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions.

Fabricate the frame
Order the metal parts from MISUMI meviy using the part numbers in the parts list or the STEP files. Print the four Calf-Links in POTICON NTL34M, the four Calf-Feet in TPU 95A and the T265 mount in PLA.
Motari summaryharaduka.github.io/mevius-hardware
Configure the 12 actuators
Use the RUBIK LINK V2.0 and CubeMars upper-computer tool to set each AK70-10 to MIT mode and assign IDs in order FR(1-3), FL(4-6), BR(7-9), BL(10-12), proximal to distal.
Motari summaryharaduka.github.io/mevius-hardware
Wire CAN and power
Daisy-chain all 12 motors on one CAN bus to the ESD CAN-USB/2 interface, bring it up with bin/can_setup.sh and verify each joint with scripts/tmotor_test.py. The project page lists the batteries, relay, diode and wireless e-stop in the power circuit.
Motari summaryharaduka.github.io/mevius-hardware
Bring up the ROS stack
Build the catkin workspace, launch the RealSense T265, and run scripts/mevius_main.py. A MuJoCo --sim mode lets you validate before running on hardware.
Motari summaryharaduka.github.io/mevius-hardware
Train or load the RL policy
Train a walking policy in the haraduka/mevius branch of legged_gym (two-phase curriculum) or use the provided models/policy.pt, then teleoperate sit/stand/walk.
Motari summaryharaduka.github.io/mevius-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.

MEVIUS bill of materials

14 rows

Cost to build

$12,390.09USDsource total

parts list: 12 AK70-10, NUC12WSKi7, ESD CAN-USB/2, T265, batteries, power electronics, meviy metal parts, MISUMI mechanics; excludes screws and printed parts$12,390.09source total
the parts list's alternative 'Low Price' column$5,304.11source 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.

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

MEVIUS bill of materials
Part	Qty	Spec	Source	Confidence
T-Motor AK70-10 actuatorRun in MIT mode	12	CubeMars AK70-10, IDs FR(1-3), FL(4-6), BR(7-9), BL(10-12), proximal to distal	T-Motor / CubeMars$498.90 eachMEVIUS parts list sheet (USD column, converted from JPY at about 140 JPY/USD in the sheet)	high
RUBIK LINK V2.0 CAN interfaceconfigures motors to MIT mode	1	USB-to-CAN, CubeMars upper computer tool	CubeMarsprice not listedNamed in README with product link	high
ESD CAN-USB/2Runtime CAN interface; RUBIK LINK is only used to set MIT mode	1	single-channel CAN-USB interface	esd electronics$642.86MEVIUS parts list sheet (USD column, converted from JPY at about 140 JPY/USD in the sheet)	high
Intel NUC12WSKi7Off-the-shelf circuit section of the parts list	1	onboard computer	Amazon JP$664.14MEVIUS parts list sheet (USD column, converted from JPY at about 140 JPY/USD in the sheet)	high
Intel RealSense T265The T265 is discontinued by Intel	1	visual SLAM / IMU	Amazon JP$516.43MEVIUS parts list sheet (USD column, converted from JPY at about 140 JPY/USD in the sheet)	high
Power batteriesTwo in series for the motor bus	2	HRB 6S 3300mAh 22.2V LiPo	Amazon JP$49.99 eachMEVIUS parts list sheet (USD column, converted from JPY at about 140 JPY/USD in the sheet)	high
Logic batteryOff-the-shelf circuit section of the parts list	1	HRB 3S 6000mAh 11.1V LiPo	Amazon JP$49.99MEVIUS parts list sheet (USD column, converted from JPY at about 140 JPY/USD in the sheet)	high
Wireless e-stopOff-the-shelf circuit section of the parts list	1	Harmony ZBRRA	Schneider Electric$410.00MEVIUS parts list sheet (USD column, converted from JPY at about 140 JPY/USD in the sheet)	high
Power relayOff-the-shelf circuit section of the parts list	1	OMRON G9EN-1-UVD-DC24	Digi-Key JP$165.40MEVIUS parts list sheet (USD column, converted from JPY at about 140 JPY/USD in the sheet)	high
DiodeOff-the-shelf circuit section of the parts list	1	GeneSiC MBRT40040	Digi-Key JP$109.14MEVIUS parts list sheet (USD column, converted from JPY at about 140 JPY/USD in the sheet)	high
DC/DC boost moduleOff-the-shelf circuit section of the parts list	2	KOOKYE DC-DC boost module	Amazon JP$2.81 eachMEVIUS parts list sheet (USD column, converted from JPY at about 140 JPY/USD in the sheet)	high
MISUMI meviy metal partsOrdered finished from MISUMI meviy by part number; each part is priced in the parts list	1	Base-Link and Hip-Link sheet-metal welded A5052; other links machined A7075	MISUMI meviypriced per part in the parts listMEVIUS parts list sheet (USD column, converted from JPY at about 140 JPY/USD in the sheet)	high
MISUMI mechanical partsOff-the-shelf mechanics section of the parts list	1	needle and ball bearings, hinge pins, dowel pins, washers	MISUMIpriced per part in the parts listMEVIUS parts list sheet (USD column, converted from JPY at about 140 JPY/USD in the sheet)	high
3D printed partsThe calf links are printed, not metal	9	4 Calf-Links in POTICON NTL34M, 4 Calf-Feet in TPU 95A, 1 T265 mount in PLA	3D print yourselfprice not listedMEVIUS parts list sheet (USD column, converted from JPY at about 140 JPY/USD in the sheet)	high

Rows from the source's own parts list 2

README.md@35fdb6cmarkdown

Source row	Qty	Price and vendor	Line
MEVIUS actuator and CAN setup	12x AK70-10 motors; 1x RUBIK LINK V2.0; CAD/hardware files on Google Drive	CubeMars / JSK Lab hardware filesnot listed	L9

mevius-hardwarehtml

Source row	Qty	Price and vendor	Line
MEVIUS e-commerce and fabrication scope	off-the-shelf components plus machined/welded metal structure	mixed e-commerce / fabricationnot listed	L32

MEVIUS source files

8 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.

MEVIUS in simulation

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

URDFmodels/mevius.urdfharaduka/mevius

The 3D specimen on this page is converted from models/mevius.urdf at 35fdb6c.

Builds of MEVIUS

0 reviewed

No reviewed builds of MEVIUS 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

Hardwaregithub.com/haraduka/mevius35fdb6c
Documentationharaduka.github.io/mevius-hardware
Bill of materialsdocs.google.com/spreadsheets/d/1yblHpIr7wkvdogYQLjA4Kh6ZrA9g...
Hardwaredrive.google.com/drive/folders/18i6CWtUG8fkY0rCcbjN5WiUYItjIX0WM

Last push to haraduka/mevius: 2025-06-10 (checked 2026-10-01)

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

Markdown

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HTML

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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

About MEVIUS

Licenses

Degrees of freedom

How to build MEVIUS

Fabricate the frame

Configure the 12 actuators

Wire CAN and power

Bring up the ROS stack

Train or load the RL policy

MEVIUS bill of materials

Cost to build

Rows from the source's own parts list 2

MEVIUS source files

MEVIUS in simulation

Builds of MEVIUS

Sources and provenance

Sources

Related links

How this page was made

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Badge for the README