MEVIUS

MEVIUS is a medium-sized 12-DoF quadruped robot from the JSK Lab (University of Tokyo), designed to be reproducible by ordering parts off the shelf and fabricating the frame with sheet-metal welding and machining. 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).

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A primary assembly 3D asset is available from models/mevius.urdf.
• 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: haraduka/mevius. Original files stay intact and separately licensed under MIT; Motari adds a separate, adjacent metadata layer.