LeRobot Humanoid Biped
An open-source biped humanoid robot platform with a torso and two legs, built from 3D printed parts, RobStride actuators and a Raspberry Pi controller.
- Other
- Open source
- 3D printable
Suggested by Robotheca, created by @huggingface (opens in a new tab), from github.com/huggingface/lerobot-humanoid-hardware (opens in a new tab). Pinned to commit 8171f57 (opens in a new tab).
- Hardware license
- Apache-2.0 (opens in a new tab)
- Software license
- Apache-2.0 (opens in a new tab)
- Commercial use
- Allowed
Photo and 3D model
3D preview converted from github.com/huggingface/lerobot-humanoid-hardware at 8171f57, under Apache-2.0. View the original files from GitHub (49.0 MB) (opens in a new tab)
What it can do
Written by Robotheca from the project's documents.
- Biped platform with two legs and a torso, built from RobStride actuators.
- Hip, thigh, knee, shin and ankle joints are each driven by a RobStride motor through linkages.
- Motors are commissioned and controlled over CAN bus, with MIT protocol switch and a motion check (0 to 90 degrees and back).
Bill of materials
45 parts45 of 45 parts shown
| # | Component | Quantity | Est. price | Supplier |
|---|---|---|---|---|
| 1 | torso_can_holder.stl | 1 | – | – |
| 2 | torso_can_holder.stl | 1 | – | – |
| 3 | torso_imu_holder.stl | 1 | – | – |
| 4 | torso_torso13.stl | 1 | – | – |
| 5 | torso_torso23.stl | 1 | – | – |
| 6 | torso_torso33.stl | 1 | – | – |
| 7 | torso_uper_torso_22.stl | 1 | – | – |
| 8 | torso_upper_torso_12.stl | 1 | – | – |
| 9 | hipx_2_hipxy_sym.stl | 1 | – | – |
| 10 | hipx_2_hipxy.stl | 1 | – | – |
| 11 | hip_z_hipz12_sym.stl | 1 | – | – |
| 12 | hip_z_hipz22_sym.stl | 1 | – | – |
| 13 | hip_z_hipz12.stl | 1 | – | – |
| 14 | hip_z_hipz22.stl | 1 | – | – |
| 15 | femur_v2_femur_12_sym_1.stl | 1 | – | – |
| 16 | femur_v2_femur_22_sym_1.stl | 1 | – | – |
| 17 | femur_v2_hat_femur_2.stl | 1 | – | – |
| 18 | femur_v2_femur_12_1.stl | 1 | – | – |
| 19 | femur_v2_femur_22_1.stl | 1 | – | – |
| 20 | femur_v2_hat_femur_2.stl | 1 | – | – |
| 21 | femur_v2_knee_actuation_2.stl | 1 | – | – |
| 22 | femur_v2_knee_rod12_sym_1.stl | 1 | – | – |
| 23 | femur_v2_knee_rod22_sym_1.stl | 1 | – | – |
| 24 | femur_v2_knee_actuation_1.stl | 1 | – | – |
| 25 | femur_v2_knee_rod12_1.stl | 1 | – | – |
| 26 | femur_v2_knee_rod22_1.stl | 1 | – | – |
| 27 | spacer12_5_9_4_5.stl | 1 | – | – |
| 28 | spacer22_5_9_4_5.stl | 1 | – | – |
| 29 | tibias2_hat_big.stl | 1 | – | – |
| 30 | tibias2_shin_spacer_2.stl | 1 | – | – |
| 31 | tibias2_tibias12_sym_4.stl | 1 | – | – |
| 32 | tibias2_tibias22_sym_4.stl | 1 | – | – |
| 33 | bearing_spacer14_5_7_3.stl | 1 | – | – |
| 34 | bearing_spacer24_5_7_3.stl | 1 | – | – |
| 35 | bearing_spacer34_5_7_3.stl | 1 | – | – |
| 36 | bearing_spacer44_5_7_3.stl | 1 | – | – |
| 37 | tibias2_rod_long.stl | 1 | – | – |
| 38 | tibias2_rod_small.stl | 1 | – | – |
| 39 | tibias_actuation_ankle_12.stl | 1 | – | – |
| 40 | tibias_actuation_ankle_22.stl | 1 | – | – |
| 41 | ujoint_hat_small_12.stl | 1 | – | – |
| 42 | ujoint_hat_small_22.stl | 1 | – | – |
| 43 | ujoint_spacer_12_ujoint.stl | 1 | – | – |
| 44 | ujoint_spacer_22_ujoint.stl | 1 | – | – |
| 45 | ujoint_ujoint.stl | 1 | – | – |
45 of 45 parts have no price in the source, so there is no parts total. Read from hardware/bom/bom.md at the pinned commit.
Build guide
The creator's steps, each with its instructions.
- 1Order all buy parts from hardware/bom/bom_buy.csv
- 2Print all required STL parts from docs/manufacturing/printing_guide.md
- 3Commission and check every motor before assembly
- 4Assemble mechanical subassemblies using docs/assembly/assembly_guide.md
- 5Run wiring and first power-on checks
The guide appears here as you scroll.
Guide by @huggingface (README.md), under Apache-2.0.
More guides
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- Raspberry Pi 5 single-board computer in the torso.
- SAVVYCANFD 2-channel CAN FD USB adapter.
- RobStride O0, O2, O3 and O5 actuators, two O0 in the torso, two O2 at the hips, four O3 at the thighs, four O5 at the shins.
- Red and black power cables of at least 2.5 mm diameter, and two communication cables.
Connections
- Leg cables use three sub-cables: shin, thigh and hip pass-through, routed through the hip-z module.
- Cable colour legend: red for power, green for CAN, blue for CAN plus power.
- Leg cables join the torso harness during final leg-to-torso integration.
- The CAN bus board connects to the torso motors and the USB adapter, with the IMU and Raspberry Pi mounted above.
