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Closed hardware

Cassie

Agility Robotics · Biped · discontinued · 2017

Torso-less bipedal research robot spun out of Oregon State University and sold to research labs. Superseded by Digit, which reuses its leg design.

L2Sim-verifiedGate: Loads in browser and GPU sim, mass within tolerance of the BOM, holds a stand. Unlocks .training.

One way to get Cassie

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  1. 1Build Duke Humanoid v1 insteadL1Nearest open robot · same class, size unknown
Fig 1/8RenderCassie studio render, three-quarter front view
Studio render of the published MJCF, keyframe pose from the model. Geometry only; colours are the model's own materials.© Rendered by Hyperspawn from mujoco_menagerie/agility_cassie (MIT) · Hyperspawn render · source
Drawing
/agility/cassie
Maker
Agility Robotics
Country
Salem, US
Package rev
none
Level
L2 Sim-verified
Availability
Research only
Openness
20/100
HW licence
unknown
Last checked
2026-09-24
DOF
10

Ran an untethered 5K (2021) and set a Guinness record for fastest 100 m by a bipedal robot, 24.73 s (2022, OSU). agilityrobotics/cassie-doc is archived; osudrl/cassie-mujoco-sim last pushed 2023. DOF = actuated joints in menagerie model (5 per leg).

Build · not possible

Build it. Buy it, or build something like it.

Closed hardware; no public CAD or BOM.

Availability
Research only
Indicative price
Not for sale
Price note
No longer sold.
Its sim model is open: train it →

Open robots of similar size you can build

Nearest by height and mass where both are known; otherwise same class. Size comparison only, not capability.

GATE

Level gate

Holds L2 · evidence, not confidence
  1. L0
    Indexed

    Known to exist. Atlas page only.

    • 3 sources on record(met)
    held
  2. L1
    Compiled

    Package validates against the spec; every fact has a source.

    • No build package compiled(not met)
    • 3 sources across robot and package(met)
    held
  3. L2
    Sim-verified

    Loads in browser and GPU sim, mass within tolerance of the BOM, holds a stand. Unlocks .training.

    • URDF/MJCF is public(met)
    • Sim load, mass tolerance and stand are checked on .training(checked elsewhere)
    held
  4. L3
    Sourced

    Every BOM line resolves to a live offer in at least two regions. Unlocks the one-click cart.

    • Not reachable: no open hardware to source or build.
    next
  5. L4
    Built

    At least one community build report with photos and bring-up logs. Unlocks Build it as the main action.

    • Not reachable: no open hardware to source or build.
    locked
  6. L5
    Certified

    The robot's maintainer signs the package. Unlocks certified teams and kit sales.

    • Not reachable: no open hardware to source or build.
    locked

Levels are cumulative and set by the registry from reviewed evidence. This panel shows what can be measured from the package today.

Same robot, other verbs

REV

Revisions and sources

Every fact on this sheet traces to one of these
RevDescriptionChecked
PKGNo build package compiled—
S1Wikipedia - Agility Roboticsen.wikipedia.org2026-09-24
S2OSU - Cassie 5Knews.oregonstate.edu2026-09-24
S3MuJoCo Menagerie agility_cassiegithub.com2026-09-24