The DOI matches its Crossref record; 1 of the 1 references it cites were found in a registry or an index.
Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control
Abstract
Mini Cheetah is a small and inexpensive, yet powerful and mechanically robust quadruped robot, intended to enable rapid development of control systems for legged robots. The robot uses custom backdriveable modular actuators, which enable high-bandwidth force control, high force density, and robustness to impacts. Standing around 0.3 m tall and weighing 9 kg, Mini Cheetah can easily be handled by a single operator. We have demonstrated dynamic trot, trot-run, bounding, and pronking gaits on the robot to speeds of up to 2.45 meters per second using Convex Model-Predictive Control (cMPC). In addition to locomotion, we have used the robot to execute 360° backflips, with trajectories generated using offline nonlinear optimization.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cites
ANYmal - a highly mobile and dynamic quadrupedal robot
Hutter, M., Gehring, C., Jud, D., Lauber, A., Bellicoso, C. D., Tsounis, V., Hwangbo, J., Bodie, K., Fankhauser, P., Bloesch, M., et al. (2016) · 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · doi:10.1109/iros.2016.7758092 · Cited by 969 · cited 2×
“A similar approach was used in the quadruped ANYmal, with the series-elastic ANYdrive actuator [6].”
BackgroundMethod
Cited by
Scientific exploration of challenging planetary analog environments with a team of legged robots
Arm, P., Waibel, G., Preisig, J., Tuna, T., Zhou, R., Bickel, V., Ligeza, G., Miki, T., Kehl, F., Kolvenbach, H., et al. (2023) · Science Robotics · doi:10.1126/scirobotics.ade9548 · Cited by 124
Afsar, O. K., Pupillo, G., Vitucci, G., Babatain, W., Ishii, H., & Cacucciolo, V. (2026) · Science Robotics · doi:10.1126/scirobotics.ady6438 · Cited by 12
Metadata
- Authors
- Katz, B., Carlo, J. D., & Kim, S.
- Venue
- 2019 International Conference on Robotics and Automation (ICRA)
- Publisher
- IEEE
- Published
- 2019-05
- Pages
- 6295-6301
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2968213087
- Cited by
- 544
- References
- 1
- FWCI
- 107.48
- Type
- conference paper
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control. https://app.cochat.ai/papers/10.1109/icra.2019.8793865
- The paper
- Katz, B., Carlo, J. D., & Kim, S. (2019). Mini Cheetah: A Platform for Pushing the Limits of Dynamic Quadruped Control. 2019 International Conference on Robotics and Automation (ICRA). https://doi.org/10.1109/icra.2019.8793865
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
