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Mac Mini for Onboard Robotics

This repository provides guidance on: (a) adapting a Mac Mini (M2 Pro) as an onboard computer for robots; (b) running control policies on it using the Asahi-Linux system. In addition, it includes the shell design source files (SolidWorks 2024) for open customization.

Instructions

  • Prepare the necessary components:

    • A Mac Mini (M2 Pro)
    • A voltage converter
    • Two cables to connect the robot’s power supply, the converter, and the Mac Mini
    • A voltmeter to calibrate the converter output to match the Mac Mini input (12.6V)
    • Basic tools for installation and soldering; a 3D printer
    • Additional hardware (e.g., screws, nuts, heat inserts) depending on the selected shell

  • Verify software compatibility before disassembly:

    • Follow the Asahi-Linux guide to install Fedora, enabling Linux support on the Mac Mini
    • If ROS is required, follow the RoboStack guide to create a virtual environment and install ROS1 Noetic on Fedora
    • Refer to Jumping CoD for additional details (e.g. reasons for choosing Mac Mini)
    • If your software setup is verified to work properly, proceed to the next steps.

  • Disassemble the Mac Mini using the guide

  • Choose and build a shell for your robot

    • Compact Shell ( M2 Pro)

      • Ready-to-use with Go1
      • Easily adaptable for other robots with minor modifications
      • Additional required components: screws (3xM3-8 for the Mac Mini, 4xM3-6 for the shell, 1xM2-6 for the converter, 1xM2-4 for the button, 4xM4-12 with nuts for fastening the shell on the Go1 rails)
      • Example usage: LocoMan. Note that two voltage converters are shown here, but the second one is only required for LocoMan’s servos. For standard usage, a single converter is sufficient.

    • Full-Back Shell (M2 Pro)

      • Covers the entire back of Go1
      • Not recommended to modify for other robots
      • Additional required components: heat inserts and screws (3xM4-8 for the Mac Mini, 14xM3-8 for the shell, 2xM2-4 with flat washers for the converter, 1xM2-8 with a flat washer and a nut for the button, 10xM3-8 for the Go1-shell connectors)
      • Example usage: LocoTouch. Note that the custom PCB shown here is only required for LocoTouch’s tactile sensor; for standard usage, it is not needed.

Contributors:

Acknowledgement:

Citation:

If you find this repository useful, please cite:

@misc{MacMini_Onboard_Robotics_2025,
  title = {Mac Mini for Onboard Robotics},
  author = {Yuxiang Yang and Changyi Lin},
  year = {2025},
  url = {https://github.com/linchangyi1/MacMini_for_Onboard_Robotics},
  note = {GitHub repository}
}