Open source · free files
Giraffe
Robot arm · Intermediate
- Score
- Buildability 100 out of 100
- Cost
- ₹14,585.71≈ €139
Photo and 3D model
3D render3D preview converted from github.com/Toyota/yubi-hw at dd8bd13, under CERN-OHL-W-2.0. View the original files from GitHub (16.7 MB) (opens in a new tab)
Open source · free files
YUBI
Robot arm
An open-source finger-driven teleoperation glove and DYNAMIXEL-actuated robot gripper for dexterous manipulation.
Before you build
- Total cost
- UnknownNot stated by the creator, and the parts list has no complete total.
- Parts still sold
- UnknownNo parts list Robotheca can read.
- Tools
- 3D printer
- Level
- Advanced
- Time
- UnknownThe creator does not state it.
- Licence
- Hardware: CERN-OHL-W-2.0 (opens in a new tab)Software: Apache-2.0 (opens in a new tab), from airoa-org/yubi-sw (opens in a new tab)Commercial use: Allowed
Read from the repository at commit dd8bd13. Something out of date? Tell us
Project information
- Buildability
- 66/100Buildable with some effort
- Parts
- Not listed
Suggested by Robotheca, created by @Toyota (opens in a new tab), from github.com/Toyota/yubi-hw (opens in a new tab), pinned to commit dd8bd13 (opens in a new tab). You buy the parts yourself; Robotheca doesn't sell robots. Last checked on GitHub on 10 November 2026; its last change there was on 21 September 2026.
Build it
The creator's 3 steps, each linked to its instructions
- Source components from the Bill of Materials
- 3D print parts from the STL files
- Follow the assembly instructions to build the hardware
The guide appears here as you scroll.
Guide by @Toyota (README.md), under CERN-OHL-W-2.0 (hardware) and Apache-2.0 (software).
What to buy
This repository has no parts list Robotheca can read yet.
Why it scores 66
It measures the published files, not the robot · How we score
66/100
Buildable with some effort
How complete the published files are for rebuilding this robot, measured by Robotheca at commit dd8bd13. It isn't a rating of the robot. Counted out of 80 points and scaled to 100: the parts that don't apply to this robot are left out.
- 13D and CAD files45 printable parts (STL, 3MF), 48 CAD source files.20/20
- –Robot descriptionNo URDF. Not counted: the score is made of the parts that apply.Optional: add a URDF, and the robot can be seen in 3D and tried in the browser.Not counted
- 2Parts listNo parts list in the repository or linked.Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.0/20
- 3SoftwareCode linked in another repository (not checked by Robotheca), instructions to install or run it.Say which software framework it uses (ROS 2, LeRobot, Arduino…).8/15
- 4DocumentationREADME of 3,898 characters with 5 pictures; 3 build steps.15/15
- –SimulationNo simulation files. Not counted: the score is made of the parts that apply.Optional: add a simulation model (MuJoCo, Gazebo, Webots or Isaac).Not counted
- 5LicensesHardware: CERN-OHL-W-2.0; software: Apache-2.0.10/10
Wiring and electronics
Notes written by Robotheca from the project's documents, not by its creator
Main parts: Robotheca's summary
- DYNAMIXEL servos actuate the YUBI Gripper.
What it can do: Robotheca's summary
Written by Robotheca from the project's documents, not by its creator
- YUBI is a finger-driven dexterous manipulation system for teleoperation and data collection.
- The YUBI Glove collects finger motion data during teleoperation of a robot.
- The YUBI Gripper is a robot-mounted gripper for dexterous manipulation.
- Supports mounting on Franka, OpenArm and Unitree G1 arms via listed flanges.
- Includes stationary and portable data collection rigs.
Software
- Framework
- Not stated
- License
- Apache-2.0
Robotheca doesn't review code. Read it before running it.
How to run it: Robotheca's summary
Written by Robotheca from the project's documents, not by its creator.
- 1Source the components listed in the Bill of Materials.
- 23D print parts using the STL files.
- 3Build the hardware following the assembly instructions.
- 4Software for control and teleoperation is provided in the separate yubi-sw repository.
Software that runs on this robot
No software from Robotheca's catalogue found in this robot's files yet. Links come from its robotheca.yaml, its dependency files read as text, or Robotheca's editors.
Free files
Every file of the project, at commit dd8bd13.
Elsewhere
Listed in robotheca.yaml, outside the repository.
Community
- Issues on GitHub (opens in a new tab)
- Pull requests on GitHub (opens in a new tab)
- Are you the creator? Manage this robot
- Report outdated info
- Report this robot
Questions and improvements go to the creator's repository.
Add a badge to your README
For the creator: two badges that link back here. The second always shows this page's current label and score.
Markdown (one click selects it)
[](https://robotheca.org/robots/yubi) [](https://robotheca.org/robots/yubi)
Licence and credits
- Hardware license
- CERN-OHL-W-2.0 (opens in a new tab)
- Software license
- Apache-2.0 (opens in a new tab), from airoa-org/yubi-sw (opens in a new tab)
- Commercial use
- Allowed
- Made by
@Toyota (opens in a new tab), in github.com/Toyota/yubi-hw (opens in a new tab) at commit dd8bd13
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- Score
- Buildability 100 out of 100
- Cost
- ¥500≈ €67
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Manuel 1.0
Robot arm · Advanced
- Score
- Buildability 89 out of 100
- Cost
- $2,309.72≈ €2,064
≈ € values are approximate, converted at the ECB euro reference rate of 9 Nov 2026. The creator's original price always comes first.