humanoidrobots.systems

agility/cassie · spec sheet

Agility Cassie specs

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 Superseded by Digit, which reuses its leg design.

Maker
Agility Robotics
Class
Biped
Status
Discontinued
Availability
Research only
Country
United States, Salem
Level
L2 Sim-verified
01

Media

5 items · credited and licensed
Cassie studio render, three-quarter front viewrender
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)license: Hyperspawn rendergithub.com
Cassie studio render, side viewrender
Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from mujoco_menagerie/agility_cassie (MIT)license: Hyperspawn rendergithub.com
Cassie bipedal robot walking on a forest trail next to its operator
Via Wikimedia Commons (CC BY-SA 2.0).Oregon State University, via Wikimedia Commonslicense: CC-BY-SA-2.0commons.wikimedia.org
Cassie bipedal robot, front view of pelvis and legs, outdoors
Via Wikimedia Commons (CC BY-SA 2.0).Oregon State University, via Wikimedia Commonslicense: CC-BY-SA-2.0commons.wikimedia.org
4 s turntable of the MJCF studio render.Rendered by Hyperspawn from mujoco_menagerie/agility_cassie (MIT)license: Hyperspawn rendergithub.com
02

Specifications

3/12 fields sourced
Agility Cassie specifications
Heightspecs.heightCmunsourced
Massspecs.massKgunsourced
Degrees of freedomspecs.dof10
Payloadspecs.payloadKgunsourced
Top speedspecs.speedMpsunsourced
Runtimespecs.runtimeMinunsourced
Battery capacityspecs.batteryWhunsourced
Pricespecs.priceUsdNot for saleNo longer sold.
Actuatorsspecs.actuatorsunsourced
Computespecs.computeunsourced
Sensorsspecs.sensorsunsourced
Year introducedyear2017
Licenselicense.hw / .sw / .docsunsourced

Note · 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).

03

Openness

method
20 / 100Partly open
ArtifactPublicWeightPoints
CADopenness.cadno250
Bill of materialsopenness.bomno200
Sim model (URDF/MJCF)openness.simyes2020
Firmwareopenness.firmwareno150
Softwareopenness.softwareno100
Trained policiesopenness.policiesno100
score = Σ weight × public20
04

Models, repositories, links

5 links
05

Videos

3 tagged · 0 from the maker's channel
Meet CassieAgilityOfficial embedyoutube.comAgility RoboticsAgility Cassie
Cassie Sets World Record for 100M RunAgilityOfficial embedyoutube.comAgility RoboticsAgility Cassie
OSU Bipedal Robot First to Run 5KOregon State UniversityOfficial embedyoutube.comAgility RoboticsAgility Cassie
06

News and papers

0 stories · 0 papers

News mentioning Cassie

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Papers using Cassie

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07

Timeline

industry timeline

20211

  1. Research

    Cassie completes a 5 km run

    Oregon State University reported that Cassie, trained with reinforcement learning, covered 5 kilometers in just over 53 minutes on a single charge.

    Agility RoboticsAgility Cassienews.oregonstate.edu

20171

  1. Robot

    Agility Robotics unveils Cassie

    Agility Robotics, an Oregon State University spinout, introduced Cassie, a dynamic bipedal robot designed to walk over rough terrain.

    Agility RoboticsAgility Cassiemashable.comece.engin.umich.edu
08

Sources

last checked 2026-09-24
  1. [1]Wikipedia - Agility Roboticsen.wikipedia.org/wiki/Agility_Roboticschecked 2026-09-24
  2. [2]OSU - Cassie 5Knews.oregonstate.edu/news/bipedal-robot-developed-oregon-state-makes-history-learning-run-completing-5kchecked 2026-09-24
  3. [3]MuJoCo Menagerie agility_cassiegithub.com/google-deepmind/mujoco_menagerie/tree/main/agility_cassiechecked 2026-09-24
09

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10

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Also by Agility Robotics

11

Cite this page

humanoidrobots.systems. “Agility Cassie specs.” Hyperspawn, data revision 2026-10-08. https://humanoidrobots.systems/agility/cassie

Machine-readable: /data.json (record agility/cassie).