June 1, 2019

Mini Cheetah at ICRA

I was just at ICRA 2019 with the robot, to present a paper and demo the robot:

Not my picture.  Pulled from google images.

Here are a few other peoples' videos from the conference and the legged robot workshop.  Despite being half the size of all the other robots, Mini Cheetah was running circles around them. 

At one point, we had Mini Cheetah, Spot MiniANYmalLaikagoVision 60, and Salto all up and running:


  1. Thanks for sharing this great post.This is so nice.

  2. Hi Ben!
    Could you give us a little insight into what software is running on the Mini Cheetah? Are you using some kind of simplified version of Model-Predictive Control, or is this brand new algorithm?

    1. See here for the locomotion control paper:

      Relatedly, we're open-sourcing all our software in the next few days, so I'll post a link to that once it's up.