I am currently developing and testing my CAD redesign of an improved version of the mit mini cheetah supported by analysis.
Timeline
July 2025 -
Core Skills
CAD prototyping | FEA
Context
The MIT Mini Cheetah is a quadruped for research purposes. I am working on redesign the mini cheetah’s form to make it more polished without compromising its structural integrity.
Problem Statement
While the Mini Cheetah is a powerful research quadruped, its appearance lacks the aesthetics that make us humans feel comfortable in its presence.
Original Design assessment
Power flow
Signal path
Subsystem | Components | Design Role | Constraint |
Hip Actuator | |||
Ab/Ad Actuator | |||
Leg Transmission | |||
Control System | |||
Power System |
Design Goals
- Sleeker profile
- Enclosed cabling
- Modular skin components
- Retention of joint DoF and actuator power
Constraints
- Actuator clearance
- Torque & heat dissipation
- Weight/mass distribution
- Manufacturability
Concept Sketches
Drawing inspiration from the uncanny valley effect and capybaras…
CAD prototyping
1. remodeling the leg with improved proportions
I created my own CAD model of the Mini Cheetah’s legs, basing it off the original design and reshaping it to mimic capybara limbs. Currently running FEA to test if it maintains structural integrity standards. it includes both upper and lower links as well as a belt system to support knee rotation.
2. Prototyping the complete exterior
I then created a complete CAD model of the Mini Cheetah to support structural testing and my design modifications to its exterior. This was modeled referencing exploded diagrams and open source projects.
*cad drawings of mini cheetah
*rendered mini cheetah
Manufacturing considerations
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