Auto-assembled, not yet reviewed

MEVIUS2

Spot-sized 12-DoF open quadruped with sheet-metal welding and multimodal LiDAR perception.

MIT
robot dog12 DoF
$12,905source total

Reproducibility73/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed

MEVIUS2 open-source 12-DoF robot dog, 3D render from mevius2_stl.urdf

main assembly 3D · mevius2_stl.urdf

Source record

Source: haraduka/mevius2 @4f09680
170 stars, last push 2026-03-24
HW license: MIT
Cost: $12,905source total, full system incl. motors, sensors, Jetson, batteries, metal parts (metal parts alone about 6,150 USD)
Lifecycle: Active
Engine: v3.1.1
Checked: 2026-10-01
Model: mevius2_stl.urdf@4f09680rendered 2026-06-08
Envelope: 887 × 511 × 406 mmas modelled, default pose

Maintain MEVIUS2? Claim this page to correct it.

MEVIUS2 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 Drive folder linked from the README holds MEVIUS2.STEP (full assembly) and 41 per-part STEP files (machined, sheet metal, printed); the engine records Drive but does not read it.20/20
Quality tier 3 of 3
Reviewed override, 2026-09-30
Evidence on drive.google.com
Engine alone: partial at tier 2 (26 mesh files; no editable CAD source in the repo)
- models/meshes/BL_calf_link.STL4f09680
- models/meshes/BL_calf_link.dae4f09680
partialBOM evidenceBOM spreadsheet linked, not inspected by the engine10/20
Quality tier 1 of 5
- linked BOM spreadsheet
metWiring diagramReviewedProject page "Circuit and Control Architecture" figure is a wiring diagram of batteries, relay, diode, e-stop, DC/DC, motors via two CAN-USB, computer, LiDARs and camera.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.xml4f09680
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
- LICENSE4f09680
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 4f09680, 2 items reviewed by hand

How this score is computed

About MEVIUS2

MEVIUS2 is the practical, perception-equipped successor to MEVIUS from the JSK Lab (University of Tokyo), comparable in size to Boston Dynamics' Spot. It is a 12-DoF quadruped (three RobStride03 motors per leg over dual USB-CAN) built from 16 unique metal parts: 11 machined A7075 aluminum links and 5 A5052 sheet-metal components, with the base, hip, and lidar-cover assemblies joined by sheet-metal welding. Perception is multimodal: two Livox MID-360 LiDARs and a Tier IV C1 HDR RGB camera, with FAST-LIO odometry and GPU elevation mapping. The repository ships multiple URDF variants (DAE, STL, Livox), MuJoCo models, a trained RL policy, and the full ROS perception/control stack; mechanical CAD is on Google Drive. Published in IEEE Robotics and Automation Practice 2026 (arXiv:2603.22031).

Licenses

Hardware: MIT
Software: MIT
Docs: Not published

Degrees of freedom

12 DoF legs 12

Breakdown source

Quadrupedsource

How to build MEVIUS2

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.

Fabricate the metal frame
Order the 16 metal parts from MISUMI meviy using the part numbers in the parts list or the STEP files: 11 machined A7075 parts and 5 A5052 sheet-metal parts. Print the TPU 95A Foot-Links and Base-Supports and the PLA mounts.
Motari summaryharaduka.github.io/mevius2-hardware
Install the 12 RobStride03 motors
Mount three motors per leg and assign CAN IDs in order FR(1-3), FL(4-6), BR(7-9), BL(10-12), proximal to distal, across two USB-CAN buses.
Motari summaryharaduka.github.io/mevius2-hardware
Map the dual CAN devices
Read each adapter serial with udevadm and add the SYMLINK rules from config/99-usb-can.rules so the two buses come up reliably as can_usb_0 and can_usb_1.
Upstream stepgithub.com/haraduka/mevius2/blob/4f09680bb575574377b903bbc97...
Mount perception sensors
Fit the two Livox MID-360 LiDARs and the Tier IV C1 camera, then bring up livox.launch and fast_lio.launch for odometry and elevation mapping.
Motari summaryharaduka.github.io/mevius2-hardware
Deploy the RL policy
Train a walking policy in the haraduka/mevius2 branch of legged_gym or use the provided models/policy.pt, validate in MuJoCo with --sim, then run scripts/mevius2_main.py on hardware with a PS4 controller.
Motari summaryharaduka.github.io/mevius2-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.

MEVIUS2 bill of materials

16 rows

Cost to build

$12,905USDsource total

full system incl. motors, sensors, Jetson, batteries, metal parts (metal parts alone about 6,150 USD)$12,905source 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.

MEVIUS2 parts, as the source lists them (read 2026-09-30). Prices are the source's, not checked against vendors.

MEVIUS2 bill of materials
Part	Qty	Spec	Source	Confidence
RobStride03 actuatorThree per leg	12	RobStride03, CAN	RobStride / AliExpress$238.91 eachMEVIUS2 parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)	high
USB-to-CAN adapterThe sheet lists 1, but the paper and code use two CAN buses	2	USB-CAN, udev-mapped	Amazon JP$32.53 eachMEVIUS2 parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)	high
Jetson Orin Nano 8GBThe sheet names a GZBOX mini PC as a possible replacement	1	onboard computer (not x86)	Switch Science$501.60MEVIUS2 parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)	high
A603 carrier boardOff-the-shelf circuit section of the parts list	1	Seeed A603 carrier for the Jetson	Switch Science$263.58MEVIUS2 parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)	high
Jetson Orin Nano heat sinkOff-the-shelf circuit section of the parts list	1	heat sink	Switch Science$28.31MEVIUS2 parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)	high
Livox MID-360 LiDARMarked optional in the sheet, but the control IMU comes from the Livox, so at least one is needed	2	360 degree LiDAR	DJI / Livox$611.60 eachMEVIUS2 parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)	high
Tier IV C1 cameraOptional in the sheet	1	HDR RGB camera	Switch Science$868.27MEVIUS2 parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)	high
Power batteriesTwo in series for the motor bus	2	HRB 6S 3300mAh 22.2V LiPo	Amazon JP$46.66 eachMEVIUS2 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	1	HRB 3S 6000mAh 11.1V LiPo	Amazon JP$46.66MEVIUS2 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	1	Harmony ZBRRA	Schneider Electric$337.19MEVIUS2 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	1	OMRON G9EA-1-B-DC12	Digi-Key JP$158.39MEVIUS2 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	1	GeneSiC MBRT40040	Digi-Key JP$101.86MEVIUS2 parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)	high
DC/DC converterOff-the-shelf circuit section of the parts list	1	NJW4131	Akizuki Denshi$5.33MEVIUS2 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; each part is priced in the parts list	1	11 machined A7075 parts and 5 A5052 sheet-metal parts; Base-Link, Hip-Link and Lidar-Cover welded	MISUMI meviypriced per part in the parts listMEVIUS2 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	1	needle and ball bearings, hinge pins, dowel pins, washers, hinges, handles	MISUMIpriced per part in the parts listMEVIUS2 parts list sheet (USD column, converted from JPY at 150 JPY/USD in the sheet)	high
3D printed partsListed in the parts list	1	TPU 95A Foot-Links and Base-Supports plus PLA mounts and covers	3D print yourselfprice not listedMEVIUS2 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@4f09680markdown

Source row	Qty	Price and vendor	Line
MEVIUS2 motors and hardware files	12x RobStride03 motors; hardware files on Google Drive	RobStride / JSK Lab hardware filesnot listed	L9
MEVIUS2 dual USB-CAN interface setup	2x USB-CAN interfaces	generic USB-CANnot listed	L52

mevius2-hardwarehtml

Source row	Qty	Price and vendor	Line
MEVIUS2 frame, perception, and motor hardware	16 unique metal parts; 2x Livox Mid-360; 1x Tier IV C1; 12x RobStride03; 2x CAN-USB	RobStride / Livox / Tier IV / fabricationnot listed	L93

MEVIUS2 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.

MEVIUS2 in simulation

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

URDFmodels/mevius2_stl.urdfharaduka/mevius2
URDFmodels/mevius2_dae.urdfharaduka/mevius2
URDFmodels/mevius2_livox.urdfharaduka/mevius2

The 3D specimen on this page is converted from models/mevius2_stl.urdf at 4f09680.

Builds of MEVIUS2

0 reviewed

No reviewed builds of MEVIUS2 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/mevius24f09680
Documentationharaduka.github.io/mevius2-hardware
Bill of materialsdocs.google.com/spreadsheets/d/1aOuN3m2tY6A8Gbivtmb2BWYD7xhz...
Hardwaredrive.google.com/drive/folders/1m8s6-Upx6yeogyJqEuW0Rl8RT7Q_2TD-

Last push to haraduka/mevius2: 2026-03-24 (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 MEVIUS2? 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 MEVIUS2

Licenses

Degrees of freedom

How to build MEVIUS2

Fabricate the metal frame

Install the 12 RobStride03 motors

Map the dual CAN devices

Mount perception sensors

Deploy the RL policy

MEVIUS2 bill of materials

Cost to build

Rows from the source's own parts list 3

MEVIUS2 source files

MEVIUS2 in simulation

Builds of MEVIUS2

Sources and provenance

Sources

Related links

How this page was made

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Badge for the README