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ManufacturerAgility Robotics Inc.Robot model · No. 2

Cassie

Humanoid Robots · Research & Development

CommercialUSA

Key factBrushless DC motors · 100 W

Model details

Model specifications

ActuatorsBrushless DC motors

Approx. standing power100 W

Approx. walking power300 W

AvailabilityNot in the Market – discontinued

Battery48 V, 20.5 Ah

Control computerIntel Atom real-time controller

Control environmentMathWorks Simulink Real-Time

Degrees of Freedom10

Demonstrated 100 m time24.73 seconds

Demonstrated 5 km timeJust over 53 minutes.

Estimated mixed-use runtimeUp to ~5 hours

HeightApprox. 1.15 m

IMUMEMS IMU

Joint sensingAbsolute + incremental encoders

Leg DOF5 per leg

LengthApprox. 0.40 m

MaterialsAluminum, polycarbonate, carbon-fiber composite

NationalityUnited States

Secondary research computerIntel NUC i5

User softwareCustom software supported on secondary computer

WeightApprox. 31 kg

WidthApprox. 0.55 m

About the Cassie

Cassie is Agility Robotics’ early bipedal research robot developed primarily for dynamic legged locomotion and robotics research. Its lightweight 10-DOF leg architecture enabled walking, running, hopping, skipping, stair climbing and jumping while serving as an open research platform for reinforcement learning, control systems and sim-to-real locomotion development. Cassie became the technological foundation for Agility Robotics’ later Digit humanoid platform and achieved notable milestones including an untethered 5 km run and a 24.73-second 100 m world record.

Typical applications: Research & Development, Education & Training, Development Platform, Advanced Manipulation Research.

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