90 stars on GitHub. MEVITA is an open-source bipedal robot designed to be assembled entirely from e-commerce components — sheet metal parts, machined elements, and off-the-shelf actuators — without access to specialized manufacturing. A sister project to MEVIUS (quadruped), MEVITA extends the approach to two-legged locomotion research. Published at IEEE conference proceedings with accompanying arXiv paper. Source: https://github.com/haraduka/mevita The robot has 10 degrees of freedom across two legs (5 DOF per leg: hip yaw, hip roll, hip pitch, knee pitch, ankle pitch), driven by CubeMars AK70-10 and AK10-9 V2.0 brushless actuators. All meshes are provided for full 3D-printable structural parts. A Livox LiDAR provides depth sensing for environment mapping. MEVITA runs ROS1 with reinforcement learning policies trained in Isaac Gym (legged_gym framework). The two-phase training pipeline first learns stable walking, then fine-tunes with varied friction and command distributions. Motor control uses CAN bus via RUBIK LINK V2.0 adapter. Hardware: 10× CubeMars AK70-10/AK10-9 brushless actuators, RUBIK LINK V2.0 CAN interface, Livox LiDAR, Intel RealSense T265. Open source under MIT license. --- ## Install Notes MEVITA has the same hardware requirements as MEVIUS. It requires a **CAN bus interface** (e.g., PEAK PCAN-USB) connected to the Pi before `launch` will work — call `can_setup` first to initialize it. The actuators are quasi-direct-drive motors, not hobby servos. See the [MEVITA hardware guide](https://github.com/haraduka/mevita) for compatible actuator specifications.
Category: Mobile Robots
| Item | Qty | Unit Cost (USD) | Total (USD) | Notes | |------|-----|-----------------|-------------|-------| | CubeMars AK70-10 KV100 quasi-direct-drive actuator (24.8 N·m peak, 10:1) | 6 | $399 | $2,394 | Hip & knee joints (joints L1–L3 / R1–R3) — [CubeMars store](https://store.cubemars.com/products/ak70-10) | | CubeMars AK10-9 V2.0 KV60 quasi-direct-drive actuator (48 N·m peak, 9:1) | 4 | $499 | $1,996 | Heavier joints (L4–L5 / R4–R5) — [CubeMars page](https://www.cubemars.com/goods-1141-AK10-9+V20+KV60.html) | | RUBIK LINK V2.0 USB-CAN multi-channel adapter | 1 | $200 | $200 | Required by repo's launch files for CAN bus comms | | Livox Mid-360 LiDAR (or Livox Mid-70) | 1 | $850 | $850 | Referenced in repo launch files — [Livox shop](https://www.livoxtech.com/mid-360) | | Mini-PC / Intel NUC i5+ class running Ubuntu | 1 | $400 | $400 | Realtime control host — [Amazon search](https://www.amazon.com/s?k=Intel+NUC+i5+barebone) | | 6S 5000 mAh LiPo battery (22.2V) | 2 | $80 | $160 | One pack + spare — [Amazon search](https://www.amazon.com/s?k=6S+5000mAh+LiPo+battery) | | 24V → 5V/12V step-down DC-DC buck converter (10A) | 2 | $20 | $40 | [Amazon search](https://www.amazon.com/s?k=24V+to+5V+buck+converter+10A) | | BNO055 IMU module | 1 | $25 | $25 | Body orientation — [Amazon search](https://www.amazon.com/s?k=BNO055+IMU) | | FSR pressure / contact sensor | 4 | $10 | $40 | Foot ground-contact detection — [Amazon search](https://www.amazon.com/s?k=FSR+force+sensor) | | PS4 (DualShock 4) controller + USB Bluetooth dongle | 1 | $60 | $60 | Teleop input (`ds4drv`) — [Amazon search](https://www.amazon.com/s?k=PS4+DualShock+4+controller) | | Sheet metal — 1.5–2 mm steel/aluminum stock (cut to drawings) | 1 | $80 | $80 | Frame material; shop welding — [Amazon search](https://www.amazon.com/s?k=2mm+aluminum+sheet+stock) | | MIG welding wire / TIG filler rod (matching alloy) | 1 | $30 | $30 | For sheet-metal welding — [Amazon search](https://www.amazon.com/s?k=MIG+welding+wire+1kg) | | 14 AWG silicone hookup wire (red/black, 25 ft each) | 1 | $25 | $25 | High-current motor power — [Amazon search](https://www.amazon.com/s?k=14+AWG+silicone+wire+25ft) | | XT60 / XT90 connector pairs | 8 | $2 | $16 | [Amazon search](https://www.amazon.com/s?k=XT60+XT90+connector+kit) | | CAN-bus DB9 cable + 120Ω terminator | 2 | $10 | $20 | [Amazon search](https://www.amazon.com/s?k=CAN+bus+cable+DB9+terminator) | | M3 / M4 / M5 / M6 socket-head screw assortment (stainless) | 1 | $40 | $40 | Joint mounts — [Amazon search](https://www.amazon.com/s?k=M3+M4+M5+M6+socket+head+screw+stainless+kit) | | Heat-set threaded inserts M4 + M5 (200-pack) | 1 | $20 | $20 | [Amazon search](https://www.amazon.com/s?k=M4+M5+heat+set+threaded+insert) | | E-stop button (panel-mount, NC) | 1 | $15 | $15 | Safety — [Amazon search](https://www.amazon.com/s?k=emergency+stop+button) | | Tether / safety harness with overhead gantry hook | 1 | $50 | $50 | Lab safety while training — [Amazon search](https://www.amazon.com/s?k=safety+harness+overhead) | | 3D-printer filament (PETG, 1 kg) | 1 | $20 | $20 | Auxiliary printed brackets/covers — [Amazon search](https://www.amazon.com/s?k=PETG+filament+1kg) | **Estimated total: $6,300–$7,500 USD** (e-commerce-only build per the paper's "minimal viable configuration"). Source: https://github.com/haraduka/mevita and https://arxiv.org/abs/2508.17684.