#Open-source hardware (17)

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Community 3D Assembly Guide for the SO-ARM101

@LeRobotHF · 197 views · 2026-09-11

LeRobotSO-ARM101Open-source hardware

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Seeed reBot Arm B601: 6-DoF Open-Source Arm

@Alacritic_Super · 238 views · 2026-09-10

Robotic ArmOpen-source hardwareLeRobot

mekion/the-bimo-projectApache-2.0

Bimo: a 45 cm Open-Source Hip-Head Biped Trained in Isaac Lab and Distilled onto an RP2040

Bimo is a 45 cm, roughly 1.6 kg hip-head biped kit: eight STS-3215 bus servos, a BNO08x 9-DoF IMU, four VL53L0X rangefinders, two 180-degree cameras, and a custom RP2040 board closing a 20 Hz control loop. The repository publishes the Python control API (1023 lines), three MCU firmware builds (1349 lines), a ROS2 wrapper (1431 lines) and an Isaac Lab training environment (874 lines: six reward terms, dense domain randomization, and a system-identified STS3215Actuator with 3.113 Hz bandwidth, directional gear backlash and a 5 ms bus delay), plus a 26MB Bimo.usd model. The CPG gait's 104 Fourier coefficients and per-joint amplitude gains are hardcoded in both Python and C, and a [256,128,64] PPO teacher distills into a [64,32] student that goes through onnx2c into the firmware, so the robot walks untethered on the MCU. All code is Apache-2.0, but the CAD and electronics the README promises are still marked coming soon: no STL, STEP, schematic, gerbers or BOM exist in the working tree or in git history, and neither release ships pretrained weights (zero assets) or a DIY assembly manual. Currently v1.1.0 with 198 stars, in pre-order status.

Bipedal robotsHumanoidOpen Source

Python19887

How to Build a Humanoid Robot: A Seven-Layer Constraint Chain from Joint Modules to Sim-to-Real

A humanoid robot is not an assembly of seven modules but a stack of physics equations that set each other's boundary conditions. This article computes the whole-machine stack layer by layer: joint motor modules (declared torque versus real quasi-static CoP demand — knee margins across three vendors converge to 2.23-2.42x while BHL's knee has only 1.51x) -> IMU (lever-arm pseudo-acceleration is 21,752x the sensor noise floor, so mounting position matters four orders of magnitude more than the datasheet) -> materials and structure (three BOM revisions of AgiBot's X1 as a load-path history: every part entering the closed-chain drivetrain upgraded to 7075-T6 / TC4 / 17-4PH) -> sensors (fix the observation space before the shopping list) -> battery and BMS ('all joints at peak simultaneously' is physically impossible: G1's 46,062 W against a 421 Wh pack is 109 C) -> software control and the CAN-level low-side boards (22 nodes at 500 Hz on one bus is 130.9% load, so it must be split into four) -> simulation training and sim-to-real: domain randomization, sim2sim, zero calibration (ATOM01's 2.093 rad waist-yaw assembly offset, the |q| < 1e-2 rad acceptance gate, and write_motor_flash() being a no-op in three of the four motor drivers), plus 10 of 13 real failure modes being hardware calibration rather than simulation fidelity. Every figure comes from programmatic parsing of the five machines' public model files, deployment and calibration source, plus official vendor specifications, and is recomputable.

BLOG

HumanoidJoint modulesIMUBMSSim-to-Real

reubenstr/ElectroPup

ElectroPup: a 12-DoF 3D-Printed Open-Source Quadruped

ElectroPup is a 4.5 kg, 12-DoF DIY quadruped: twelve MG4010E-i10v3 CAN BLDC actuators split into four per-leg CAN segments, a Raspberry Pi 5 for compute, and a single ~7,700-line pure-Python service with no ROS in the stack. The repository publishes OnShape CAD, two KiCad v8 boards, a bill of materials, measured weights and power draw (21.6 W suspended, 33.8 W standing), plus MuJoCo simulation, a React Native/Expo browser UI, four Bezier-foot gaits, and a full build guide. The author also documents known gaps: no license file, no contact sensing, and a simulation model without approximate masses or inertias.

Quadruped robotsOpen SourceBLDC Motor

Python3542