MEVITA Biped

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 for compatible actuator specifications.