OpenZero
A 40 cm-class open-source humanoid robot designed for education and algorithm verification, featuring 10 DOF and Damiao actuators.
- Humanoid
- No license: all rights reserved by the creator
- Work in progress
- 3D model (URDF)
- 3D printable
Suggested by Robotheca, created by @shixiaofen1 (opens in a new tab), from github.com/shixiaofen1/Open-Zero (opens in a new tab). Pinned to commit 5eb02e4 (opens in a new tab).
- Hardware license
- No license
- Software license
- No license
- Commercial use
- Unknown
No license is stated for part of this robot.
The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.
Photo and 3D model
3D model loaded from the original files on GitHub at 5eb02e4, under NONE. View the original files from GitHub (17.9 MB) (opens in a new tab)
- Degrees of freedom
- 10
- Height
- 40 cm
What it can do
Written by Robotheca from the project's documents.
- Walks using reinforcement learning in simulation
- Runs PPO gait training in Isaac Lab
- Validates gaits across Isaac Lab and MuJoCo before real-world deployment
- Supports future dynamic jumping and dance motions
- Planned teleoperation and whole-body control
Bill of materials
This repository has no parts list Robotheca can read yet.
Build guide
The creator's guide is in the repository. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.
Read the creator's guideAsk the creator on GitHub (opens in a new tab)Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- 10x Damiao 4340 planetary joint motors (9Nm rated, 27Nm peak)
- 200Hz high-refresh-rate IMU
- External PC or embedded host such as NVIDIA Jetson Orin Nano
Connections
- USB to CAN communication link for real-time motor control