Roboto Origin
A fully open-source DIY humanoid robot designed for walking, running, and customizable motion control.
- Humanoid
- Open source
- Work in progress
- Works with AI
- ROS 2
- 3D model (URDF)
- 3D printable
Suggested by Robotheca, created by @Roboparty (opens in a new tab), from github.com/Roboparty/roboto_origin (opens in a new tab). Pinned to commit c71fd92 (opens in a new tab).
- Hardware license
- CERN-OHL-W-2.0 (opens in a new tab)
- Software license
- GPL-3.0-only (opens in a new tab)
- Commercial use
- Allowed
This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.
Which files (264 files marked executable, 266 scripts, 107 programs or installers, 30 firmware images)
- modules/roboparty_deploy/assets/linux-dtb-legacy-rockchip-rk3588_1.2.0_arm64.deb (opens in a new tab)
- modules/roboparty_deploy/assets/linux-headers-legacy-rockchip-rk3588_1.2.0_arm64.deb (opens in a new tab)
- modules/roboparty_deploy/assets/linux-image-legacy-rockchip-rk3588_1.2.0_arm64.deb (opens in a new tab)
- modules/roboparty_deploy/src/camera/thirdparty/realsense-ros/realsense2_ros_mqtt_bridge/scripts/pr_check.sh (opens in a new tab)
- modules/roboparty_deploy/src/camera/thirdparty/realsense-ros/scripts/check_package_deps.sh (opens in a new tab)
- modules/roboparty_deploy/src/camera/thirdparty/realsense-ros/scripts/pr_check.sh (opens in a new tab)
- modules/roboparty_deploy/src/imu/debian/rules (opens in a new tab)
- modules/roboparty_deploy/src/imu/init_imu.sh (opens in a new tab)
- modules/roboparty_deploy/src/inference/debian/rules (opens in a new tab)
- modules/roboparty_deploy/src/inference/thirdparty/cnpy/npz2mat (opens in a new tab)
- modules/roboparty_deploy/src/motors/debian/rules (opens in a new tab)
- modules/roboparty_deploy/tools/create_ap/create_ap (opens in a new tab)
- modules/roboparty_deploy/tools/start_camera.sh (opens in a new tab)
- modules/roboparty_deploy/tools/start_robot.sh (opens in a new tab)
- modules/roboparty_firmware/orangepi-build/build.sh (opens in a new tab)
- modules/roboparty_firmware/orangepi-build/external/cache/debs/aptly/aptly_1.4.0+44+g24a0271_amd64.deb (opens in a new tab)
- modules/roboparty_firmware/orangepi-build/external/cache/debs/arm64/layout_switcher/layoutswitcher_0.2-0_all.deb (opens in a new tab)
- modules/roboparty_firmware/orangepi-build/external/cache/debs/arm64/usbmount_0.0.24_all.deb (opens in a new tab)
- modules/roboparty_firmware/orangepi-build/external/cache/debs/arm64/wiringpi-2.58-1.deb (opens in a new tab)
- modules/roboparty_firmware/orangepi-build/external/cache/debs/extra/bionic-desktop/xserver-xorg-video-armsoc-sun4i_1.4.1~orangepi2.0.8+1_armhf.deb (opens in a new tab)
- and 647 more
Photo and 3D model
Try it in the browser
3D preview converted from github.com/Roboparty/roboto_origin at c71fd92, under CERN-OHL-W-2.0. View the original files from GitHub (31.8 MB) (opens in a new tab)
What it can do
Written by Robotheca from the project's documents.
- Walks and runs on two legs
- Performs dynamic motions like jumping and parkour
- Accepts gamepad control for teleoperation
- Runs reinforcement-learning policies for locomotion
- Supports multiple motion policies (default, amp, attn_enc, beyondmimic, getup, interrupt, parkour)
- Provides ROS2 service interfaces for motor initialization, zeroing, inference start/stop, error clearing, and joint control
- Allows switching between gamepad and cmd_vel control modes
Works with AI
Found by Robotheca in the project's files at commit c71fd92, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.
Ships trained model files: policy.onnx and 8 more
In the project files: modules/roboparty_deploy/src/inference/robots/rpo/models/policy.onnxUses reinforcement learning: rsl_rl
In the project files: modules/roboparty_train/rsl_rl
Bill of materials
63 parts63 of 63 parts shown
| # | Component | Quantity | Est. price | Supplier |
|---|---|---|---|---|
| 1 | 1 ATOM-01-001 atom手臂 - 副本 (1) Atom arm(1) 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 4 pcs | – | – |
| 2 | 2 ATOM-01-002 atom手臂 - 副本 (2) Atom arm(2) 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 4 pcs | – | – |
| 3 | 3 ATOM-01-003 atom手臂 - 副本 (3) Atom arm(3) 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 4 pcs | – | – |
| 4 | 4 ATOM-01-004 atom手臂 - 副本 (4) Atom arm(4) 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 4 pcs | – | – |
| 5 | 5 ATOM-01-005 IMU 载板 IMU Carrier Board 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 1 pcs | – | – |
| 6 | 6 ATOM-01-006 侧板横板 Side Plate Cross Plate 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 2 pcs | – | – |
| 7 | 7 ATOM-01-007 大腿内侧 Inner Thigh 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 2 pcs | – | – |
| 8 | 8 ATOM-01-008 电池底盖 Battery Bottom Cover 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 1 pcs | – | – |
| 9 | 9 ATOM-01-009 肩膀 Shoulder 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 2 pcs | – | – |
| 10 | 10 ATOM-01-010 脚底板 Sole of Foot 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 2 pcs | – | – |
| 11 | 11 ATOM-01-011 脚底连杆 Sole Connecting Rod 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 2 pcs | – | – |
| 12 | 12 ATOM-01-012 脚踝横滚连接件 Ankle Roll Connector 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 4 pcs | – | – |
| 13 | 13 ATOM-01-013 髋关节固定 Hip Joint Fixation 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 1 pcs | – | – |
| 14 | 14 ATOM-01-014 髋夹板 Hip Splint 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 2 pcs | – | – |
| 15 | 15 ATOM-01-015 输出法兰连杆 Output Flange Connecting Rod 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 4 pcs | – | – |
| 16 | 16 ATOM-01-016 通用连接件 Universal Connector 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 4 pcs | – | – |
| 17 | 17 ATOM-01-017 通用连接件扩孔法兰 Universal Connector Reamed Flange 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 4 pcs | – | – |
| 18 | 18 ATOM-01-018 小腿 Lower Leg / Calf 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 2 pcs | – | – |
| 19 | 19 ATOM-01-019 胸腔夹板后 Chest Rear Splint 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 1 pcs | – | – |
| 20 | 20 ATOM-01-020 胸腔前后夹板 Chest Front Splint 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 1 pcs | – | – |
| 21 | 21 ATOM-01-021 限位销 Limit Pin 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 8 pcs | – | – |
| 22 | 22 ATOM-01-022 小腿轴承锁 Lower Leg Bearing Lock 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 4 pcs | – | – |
| 23 | 23 ATOM-01-023 腰部支撑 Waist Support 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 1 pcs | – | – |
| 24 | 24 ATOM-01-024 长连杆 Long Connecting Rod 金属加工类-CNC件 120目喷砂/黑色阳极氧化 | 2 pcs | – | – |
| 25 | 25 ATOM-01-025 短连杆 Short Connecting Rod 金属加工类-CNC件 仅喷砂 | 2 pcs | – | – |
| 26 | 26 ATOM-01-026 橡胶脚底 Rubber Sole 3D打印件 | 2 pcs | – | – |
| 27 | 27 ATOM-01-027 48V 15Ah锂电池 锂离子电池 140*140*115mm 孚小二 | 1 pcs | – | Supplier: buy 27 ATOM-01-027 48V 15Ah锂电池 锂离子电池 140*140*115mm 孚小二, opens in a new tab |
| 28 | 28 ATOM-01-028 急停继电器 机械类-外购标准件（无标准号） 蓝波M3氧化头部-无灯 | 1 pcs | – | Supplier: buy 28 ATOM-01-028 急停继电器 机械类-外购标准件（无标准号） 蓝波M3氧化头部-无灯, opens in a new tab |
| 29 | 29 ATOM-01-029 航空插头充电器 机械类-外购标准件（无标准号） 威浦SF1212/S2 | 1 pcs | – | Supplier: buy 29 ATOM-01-029 航空插头充电器 机械类-外购标准件（无标准号） 威浦SF1212/S2, opens in a new tab |
| 30 | 30 ATOM-01-030 ATOM 01标定件 3D打印件 3d打印/躺倒标定/手臂垂直 | – | – | – |
| 31 | 33 ATOM-01-033 超核HI13 M0-USB 电子电气类-外购标准件（无标准号） | 1 pcs | – | Supplier: buy 33 ATOM-01-033 超核HI13 M0-USB 电子电气类-外购标准件（无标准号）, opens in a new tab |
| 32 | 35 ATOM-01-035 DM 4340P（48V） 电子电气类-外购标准件（无标准号） | 14 pcs | – | Supplier: buy 35 ATOM-01-035 DM 4340P（48V） 电子电气类-外购标准件（无标准号）, opens in a new tab |
| 33 | 36 ATOM-01-036 DM 10010L 电子电气类-外购标准件（无标准号） | 9 pcs | – | Supplier: buy 36 ATOM-01-036 DM 10010L 电子电气类-外购标准件（无标准号）, opens in a new tab |
| 34 | 37 ATOM-01-037 RDK X5 8G 电子电气类-外购标准件（无标准号） 8G/单板 | 1 pcs | – | – |
| 35 | 38 ATOM-01-038 usb hub 电子电气类-外购标准件（无标准号） | 1 pcs | – | Supplier: buy 38 ATOM-01-038 usb hub 电子电气类-外购标准件（无标准号）, opens in a new tab |
| 36 | 39 ATOM-01-039 usb2can 电子电气类-外购标准件（无标准号） | 4 pcs | – | Supplier: buy 39 ATOM-01-039 usb2can 电子电气类-外购标准件（无标准号）, opens in a new tab |
| 37 | 40 ATOM-01-040 48V转5V转压模块 电子电气类-外购标准件（无标准号） | 1 pcs | – | Supplier: buy 40 ATOM-01-040 48V转5V转压模块 电子电气类-外购标准件（无标准号）, opens in a new tab |
| 38 | 41 ATOM-01-041 电源中心板 电子电气类-外购标准件（无标准号） | 1 pcs | – | Supplier: buy 41 ATOM-01-041 电源中心板 电子电气类-外购标准件（无标准号）, opens in a new tab |
| 39 | 42 ATOM-01-042 CAN转接板 电子电气类-外购标准件（无标准号） | 4 pcs | – | Supplier: buy 42 ATOM-01-042 CAN转接板 电子电气类-外购标准件（无标准号）, opens in a new tab |
| 40 | 45 ATOM-01-045 wire01-40cm 电子电气类-外购标准件（无标准号） 4340p转10010L | 4 pcs | – | – |
| 41 | 46 ATOM-01-046 wire01-20cm 电子电气类-外购标准件（无标准号） 4340p转10010L | 4 pcs | – | – |
| 42 | 47 ATOM-01-047 wire01-10cm 电子电气类-外购标准件（无标准号） 4340p转10010L | 2 pcs | – | – |
| 43 | 48 ATOM-01-048 wire02-40cm 电子电气类-外购标准件（无标准号） 4340p转4340p | 2 pcs | – | – |
| 44 | 49 ATOM-01-049 wire02-20cm 电子电气类-外购标准件（无标准号） 4340p转4340p | 8 pcs | – | – |
| 45 | 50 ATOM-01-050 wire02-10cm 电子电气类-外购标准件（无标准号） 4340p转4340p | 2 pcs | – | – |
| 46 | 51 ATOM-01-051 wire03-40cm 电子电气类-外购标准件（无标准号） 10010L转10010L | 10 pcs | – | – |
| 47 | 52 ATOM-01-052 wire03-20cm 电子电气类-外购标准件（无标准号） 10010L转10010L | 4 pcs | – | – |
| 48 | 53 ATOM-01-053 内六角圆柱头螺钉M3×6 机械类-外购标准件（无标准号） GB/T 70.1-2000 | 20 pcs | – | – |
| 49 | 54 ATOM-01-054 内六角圆柱头螺钉M3×8 机械类-外购标准件（无标准号） GB/T 70.1-2000 | 50 pcs | – | – |
| 50 | 55 ATOM-01-055 内六角圆柱头螺钉M3×10 机械类-外购标准件（无标准号） GB/T 70.1-2000 | 70 pcs | – | – |
| 51 | 56 ATOM-01-056 内六角圆柱头螺钉M3×12 机械类-外购标准件（无标准号） GB/T 70.1-2000 | 30 pcs | – | – |
| 52 | 57 ATOM-01-057 内六角圆柱头螺钉M3×16 机械类-外购标准件（无标准号） GB/T 70.1-2000 | 100 pcs | – | – |
| 53 | 58 ATOM-01-058 内六角圆柱头螺钉M4×8 机械类-外购标准件（无标准号） GB/T 70.1-2000 | 160 pcs | – | – |
| 54 | 59 ATOM-01-059 内六角圆柱头螺钉M4×10 机械类-外购标准件（无标准号） GB/T 70.1-2000 | 70 pcs | – | – |
| 55 | 60 ATOM-01-060 内六角圆柱头螺钉M4×12 机械类-外购标准件（无标准号） GB/T 70.1-2000 | 60 pcs | – | – |
| 56 | 61 ATOM-01-061 内六角圆柱头螺钉M4×16 机械类-外购标准件（无标准号） GB/T 70.1-2000 | 30 pcs | – | – |
| 57 | 62 ATOM-01-062 内六角圆柱头螺钉M5×10 机械类-外购标准件（无标准号） GB/T 70.1-2000 | 70 pcs | – | – |
| 58 | 63 ATOM-01-063 内六角沉头螺钉M6×15 机械类-外购标准件（无标准号） GB/T 70.3-2008 | 2 pcs | – | – |
| 59 | 64 ATOM-01-064 六角螺母M6 机械类-外购标准件（无标准号） GB/T 6170-2015 | 2 pcs | – | – |
| 60 | 65 ATOM-01-065 吊环螺钉M3 机械类-外购标准件（无标准号） GB/T 825-1988 | 4 pcs | – | – |
| 61 | 66 ATOM-01-066 深沟球轴承130*165*18 机械类-外购标准件（无标准号） GB/T 276-2013 | 1 pcs | – | – |
| 62 | 67 ATOM-01-067 向心关节轴承（G系列）8 机械类-外购标准件（无标准号） GB/T 9161-2001 | 8 pcs | – | – |
| 63 | 68 ATOM-01-068 推力滚针和保持架组件AXK6085 机械类-外购标准件（无标准号） GB/T 4605-2003 | 9 pcs | – | – |
63 of 63 parts have no price in the source, so there is no parts total. Read from assets/BOM.md at the pinned commit.
Build guide
The creator's steps, each with its instructions.
- 1Clone the repository
- 2Follow module-specific READMEs for assembly and deployment
The guide appears here as you scroll.
Guide by @Roboparty (README.md), under CERN-OHL-W-2.0 (hardware) and GPL-3.0-only (software).
More guides
Wiring and electronics
Notes written by Robotheca from the project's documents.
Main parts
- RDK X5 8G single-board computer
- Super core HI13 M0-USB microcontroller
- DM 4340P 48 V actuators for legs and arms
- DM 10010L 48 V actuators for waist and hands
- HiPNUC IMU module at 921600 baud and 500 Hz
- USB2CAN adapters for CAN bus communication
- 48 V 15 Ah lithium battery pack
- 48 V to 5 V buck converter module
- Power distribution hub PCB
- USB hub for peripheral connections
Connections
- CAN bus: four USB2CAN adapters mapped to can0 (left leg), can1 (right leg and waist), can2 (left hand), can3 (right hand)
- IMU connected via USB serial port at 921600 baud
- RDK X5 connected via USB for power and communication
- Actuators wired to power distribution hub with 48 V supply
- 5 V buck converter powers microcontroller and peripherals
- Udev rules bind USB devices to fixed names for consistent CAN and IMU identification
Cables and connectors
From the parts list.
- 12 ATOM-01-012 脚踝横滚连接件 Ankle Roll Connector 金属加工类-CNC件 120目喷砂/黑色阳极氧化 × 4 pcs
- 16 ATOM-01-016 通用连接件 Universal Connector 金属加工类-CNC件 120目喷砂/黑色阳极氧化 × 4 pcs
- 17 ATOM-01-017 通用连接件扩孔法兰 Universal Connector Reamed Flange 金属加工类-CNC件 120目喷砂/黑色阳极氧化 × 4 pcs
- 29 ATOM-01-029 航空插头充电器 机械类-外购标准件（无标准号） 威浦SF1212/S2 × 1 pcs
Schematics, boards and diagrams
- modules/rpo_hardware/V1.0/atom01_pcb/Roboto_Power/01_Gerber/POWER_BOARD_GERBER_V1.0 .zipGerber (PCB manufacturing)
- modules/rpo_hardware/V1.0/atom01_pcb/Roboto_Usb2Can/01_Gerber/Gerber_Roboto_uUsb2Can_V1.0_1_2026-4-8.zipGerber (PCB manufacturing)
- modules/rpo_hardware/V2.0/roboto_origin_pcb/01_Gerber/Gerber_RBE_PWR_HUB_V2.1_2026-04-09.zipGerber (PCB manufacturing)