MEVITA

This repository includes the hardware and software components of "MEVITA: Open-Source Bipedal Robot Assembled from E-Commerce Components via Sheet Metal Welding."

Please refer to the following links for more information.

Hardware

You can find all the hardware components in the following link

Goodle Drive

From the link of RUBIK LINK V2.0, please download the upper computer installation program and make all the motors MIT mode.

AK70-10
AK10-9 V2.0
AK Serials Manual
RUBIK LINK V2.0
Motor Order: L(6-10) --> R(1-5) / Proximal --> Distal
Link Name: L_hip1_link --> L_hip2_link --> L_thigh_link --> L_calf_link --> L_foot_link
Joint Name: L_hip_y --> L_hip_r --> L_hip_p --> L_knee_p --> L_ankle_p

Software Dependencies

Please install the following dependencies.

Please install the following python packages.

bitstring
pytorch
scipy
mujoco
mujoco-python-viewer
urdf_parser_py
ds4drv (optional)

Build

mkdir -p ~/mevita_ws/src
cd ~/mevita_ws/src
git clone git@github.com:haraduka/mevita.git
cd ..
catkin build
source ~/mevita_ws/devel/setup.bash

Setup Can Devices

udevadm info -a -p /sys/class/net/can0 | grep serial # you can get ATTRS{serial}=="004000235457530120353930"

# see config/99-usb-can.rules
sudo vim /etc/udev/rules.d/99-usb-can.rules

# add the below command
SUBSYSTEM=="usb", ATTRS{serial}=="004000235457530120353930", SYMLINK+="can_usb_0"
SUBSYSTEM=="usb", ATTRS{serial}=="004000265457530120353930", SYMLINK+="can_usb_1"

# then (please plug out and in the device)
sudo udevadm control --reload-rules
sudo udevadm trigger

Reinforcement Learning

# in legged_gym
git remote add haraduka git@github.com:haraduka/legged_gym.git
git fetch haraduka
git checkout haraduka/mevita

python3 legged_gym/scripts/train.py --task mevita
python3 legged_gym/scripts/play.py --task mevita --load_run ( log_dir )
cp logs/mevita/( log_dir )/exported/policies/policy_1.pt /tmp/policy.pt
roscd mevita
cp /tmp/policy.pt models/policy.pt

Usage

Please test several codes by running the following command.

python3 scripts/mevita_utils.py

Please test the motors by running the following command.

./bin/can_setup.sh
python scripts/tmotor_test.py --device can0 --ids 1 --task sense

Please test the real robot by running the following command.

# in the PC of MEVITA
roscore
sudo ds4drv
roslaunch mevita livox.launch
./bin/can_setup.sh
python3 scripts/mevita_main.py

# Cross: SITDOWN/STANDUP, Circle: STANDUP/WALK for ps4joy

If you want to simulate the robot in mujoco

python3 scripts/mevita_main.py --sim

# please press D to turn off every-step rendering in mujoco viewer

Acknowledgements

scripts/tmotor_lib.py is from mini-cheetah-tmotor-python-can
scripts/isaacgym_torch_utils.py is from IsaacGym
scripts/legged_gym_math.py is from LeggedGym

Citation

@inproceedings{kawaharazuka2025mevita,
  author={K. Kawaharazuka and S. Sawaguchi and A. Iwata and K. Yoneda and T. Suzuki and K. Okada},
  title={{MEVITA: Open-Source Bipedal Robot Assembled from E-Commerce Components via Sheet Metal Welding}},
  booktitle={Proceedings of the 2025 IEEE-RAS International Conference on Humanoid Robots},
  year=2025,
}

Mevita

Install / Use

README