Facts

• Company: Agility Robotics
• Product type: Research Platform
• Status: research
• Website: https://agilityrobotics.com/about

Profile sections

• Summary
• Overview
• Market context
• Audience
• Workflow
• Capability
• Deployment environment
• Positioning tags
• Specifications
• Timeline / Research
• Sources

Summary

Cassie is Agility Robotics' bipedal robot platform for locomotion research and early real-world deployment testing. Derived from ATRIAS research, it served as a precursor to Digit with improved walking stability and outdoor mobility.

Overview

Cassie is Agility Robotics' bipedal robot platform for locomotion research and early real-world deployment testing. Derived from ATRIAS research, it served as a precursor to Digit with improved walking stability and outdoor mobility.

Market context

Cassie is Agility Robotics' first commercial bipedal robot platform, derived from ATRIAS research and used for R&D before Digit.

• Target environment: Academic labs, industrial R&D sites, locomotion research programs and robot-learning environments.
• Workflow context: Bipedal locomotion research, controller development, robot learning, mobility validation and platform experimentation.
• Customer context: Researchers, universities and industrial R&D teams studying legged robot mobility.
• Deployment model: Commercial research-platform model used before Agility's warehouse-focused Digit product.
• Commercial maturity: Established research and development platform.
• Adoption constraints: Adoption depends on research goals, support, simulation tools and platform availability.
• Market position: Bridge product between university bipedal locomotion research and deployable Agility Robotics systems.
• Adjacent products: ATRIAS, Digit, Unitree H1, Boston Dynamics Atlas

Audience

Researchers

Workflow

Bipedal locomotion research, controller development, robot learning, mobility validation and platform experimentation.

Capability

Research Platform

Deployment environment

Academic labs, industrial R&D sites, locomotion research programs and robot-learning environments.

Positioning tags

• Audience: Researchers
• Workflow: Bipedal locomotion research, controller development, robot learning, mobility validation and platform experimentation.
• Capability: Research Platform
• Deployment environment: Academic labs, industrial R&D sites, locomotion research programs and robot-learning environments.

Specifications

• Height: ~1.0 m (legged height, no torso) m
• Weight: ~31 kg kg
• Payload: ~0 kg (locomotion platform) kg
• Speed: up to ~1.5–2.0 m/s
• Runtime: ~1–2 hours (battery dependent)
• Actuation: Electrically actuated legs with compliant elements
• Degrees Of Freedom: 10 (5 per leg)
• Operating Environment: outdoor_unstructured; indoor_structured
• Mobility Class: biped
• Commercial Status: pilot
• Stabilization: Dynamic balancing (no static stability requirement)

Timeline / Research

• 2024-06-25 - Research Publication - Multi-biped payload-transport paper demonstrates coordinated Cassie teams - The paper trains a decentralized controller for payload transport using multiple rigidly attached biped rob…
• 2024-01-30 - Research Publication - IJRR study demonstrates broad dynamic locomotion skills on Cassie - The IJRR study presents a reinforcement-learning controller for standing, walking, running, jumping, and other dyna…
• 2023-09-14 - Research Publication - Cassie constrained-foothold paper demonstrates MPC footstep control - The paper introduces a mixed-integer model-predictive footstep controller for bipedal walking over constrained fo…
• 2023-02-19 - Research Publication - RSS jumping-control paper transfers versatile dynamic jumps to Cassie hardware - The RSS paper trains a reinforcement-learning controller for robust bipedal jumping across different d…
• 2022-09-27 - Demonstration - Agility Robotics sets world record with Cassie's learned policy - Achieved a world record for the fastest 100 m by a bipedal robot at 24.73 seconds.
• 2021-09-30 - Research Publication - Cassie ALIP-MPC paper demonstrates terrain-adaptive bipedal locomotion - The paper combines an Angular Momentum Linear Inverted Pendulum model with MPC foot placement and virtual cons…
• 2021-07-25 - Demonstration - Cassie the bipedal robot completes 5K run - • Cassie, a bipedal robot developed at Oregon State University and produced by Agility Robotics, completed a 5-kilometer run in just over 53 minut…
• 2021-03-26 - Research Publication - Parameterized locomotion RL paper transfers robust walking policies to Cassie - The paper trains robust locomotion policies in simulation using domain randomization and transfers them…
• 2020-11-02 - Research Publication - Cassie sim-to-real paper learns all common bipedal gaits - The paper proposes periodic reward composition for standing, walking, hopping, running, and skipping without requiring refer…
• 2019-07-26 - Research Publication - Cassie Hovershoes paper demonstrates multimodal bipedal riding control - The paper develops feedback control for Cassie to autonomously ride a pair of Hovershoes while balancing and r…
• 2018-09-19 - Research Publication - Cassie feedback-control paper demonstrates walking, standing, and Segway riding - The paper implements virtual-constraint and gait-library feedback control on Agility Robotics Cassie.
• 2017-09-05 - Market Signal - Agility Robotics delivers Cassie 001 to University of Michigan - • Agility Robotics delivered the first Cassie bipedal robot, serial number 001, to the University of Michigan on September 5,…
• 2017-08-31 - Market Signal - Agility Robotics completes first Cassie robot deliveries - • Agility Robotics delivered its first batch of Cassie robots to the University of Michigan, Caltech, and Harvard at the end of Aug…

Sources

• file:///C:/Users/Alex/korthoswebsite/tmp/product-batch-25/sources/agility/agility-2.avif