Mini Pi is HighTorque Robotics’ compact bipedal walking platform — 12 actuated degrees of freedom across two legs, with no arms, waist, or head. HighTorque markets it as a “bipedal robot,” a deliberately distinct product line from the arm-and-head-equipped Mini Hi and Mini Pi+, which the company calls “humanoid robots.” At around 520 mm tall and 7 kg, it’s light enough to pick up with one hand.
The mechanism
Twelve actuated revolute joints, 6 per leg (hip pitch/roll, thigh, calf, ankle pitch/roll) — no mimic joints, no closed kinematic loops, no upper body at all. Built purely for gait and locomotion-control research.
About this file — read before importing
This links directly to
HighTorque-Robotics/ht_robot_urdf,
HighTorque Robotics’ own repository — specifically its pi_12dof/ package, one of three
sibling robot descriptions in the same monorepo (the others are
Mini Hi and Mini Pi+). ARMOR
links directly to the repository rather than re-hosting anything, so what you get is exactly
what HighTorque Robotics publishes, unmodified.