---
title: "Open-source robots"
description: "24 open robots you can build, from YOR and SO-101 to Berkeley Humanoid Lite: the actuators in each joint, BOM cost and how open each design is."
canonical: https://actuatorlist.com/open-source
last-updated: 2026-11-03T14:29:08.000Z
---
# Open-source robots

24 robots you can build from published designs, the actuators in their joints and how open each one is. As of November 2026; repository stars and last commits as of 2026-11-03. Interactive version: https://actuatorlist.com/open-source. JSON: https://actuatorlist.com/api/v1/open-robots.

Inclusion rule: the mechanical design, or the full BOM plus build instructions, is public with a licence stated for those files; a code-only licence does not count. Records listed without meeting it say why under Inclusion. An open SDK alone does not qualify; actuator SDKs are scored by brand on [SDK ratings](/sdk).

## Robots

| Robot | Type | DOF | Cost | Licence | Openness | Actuators | Repository |
| --- | --- | --- | --- | --- | --- | --- | --- |
| [YOR](https://yourownrobot.ai/) | Mobile manipulator | 16 | $9,200 (BOM) | MIT | 69% | 12 x AgileX Robotics PiPER joint module; 4 x REV Robotics MAXSwerve drive motor (SPARK Flex); 4 x REV Robotics MAXSwerve steering motor (SPARK MAX); 1 x Standing-desk lift column | [YOR-robot/YOR](https://github.com/YOR-robot/YOR) (112 stars) |
| [Manmaru YOR](https://yor.manmaruai.co.jp/en) | Mobile manipulator | 14 | $6,300 (BOM) | none stated | 38% | [6 x Damiao DM-J4340P-2EC](/actuators/damiao-dm-j4340p-2ec); [8 x Damiao DM-J4310-2EC](/actuators/damiao-dm-j4310-2ec) | [manmaruai/manmaru-yor](https://github.com/manmaruai/manmaru-yor) (2 stars) |
| [LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi) | Mobile manipulator | 9 | $482 (BOM) | Apache-2.0 | 75% | [3 x Feetech STS3215 (12 V, 30 kg.cm)](/actuators/feetech-sts3215); [6 x Feetech STS3215 (12 V, 30 kg.cm)](/actuators/feetech-sts3215) | [SIGRobotics-UIUC/LeKiwi](https://github.com/SIGRobotics-UIUC/LeKiwi) (1,500 stars) |
| [XLeRobot](https://github.com/Vector-Wangel/XLeRobot) | Mobile manipulator | 15 | $660 (BOM) | Apache-2.0 | 75% | [12 x Feetech STS3215 (12 V, 30 kg.cm)](/actuators/feetech-sts3215); [3 x Feetech STS3215 (12 V, 30 kg.cm)](/actuators/feetech-sts3215) | [Vector-Wangel/XLeRobot](https://github.com/Vector-Wangel/XLeRobot) (5,700 stars) |
| [AhaRobot](https://aha-robot.github.io/) | Mobile manipulator | n/a | $1,000 (BOM) | GPL-3.0-only, LicenseRef-NonCommercial | 63% | not itemised | [hilookas/astra\_ws](https://github.com/hilookas/astra_ws) (25 stars) |
| [SO-100](https://github.com/TheRobotStudio/SO-ARM100) | Arm | 6 | n/a | Apache-2.0 | 75% | [6 x Feetech STS3215 (7.4 V)](/actuators/feetech-sts3215-c001) | [TheRobotStudio/SO-ARM100](https://github.com/TheRobotStudio/SO-ARM100) (8,000 stars) |
| [SO-101](https://github.com/TheRobotStudio/SO-ARM100) | Arm | 6 | $121.94 (BOM) | Apache-2.0 | 75% | [6 x Feetech STS3215 (7.4 V)](/actuators/feetech-sts3215-c001) | [TheRobotStudio/SO-ARM100](https://github.com/TheRobotStudio/SO-ARM100) (8,000 stars) |
| [Koch arm](https://github.com/AlexanderKoch-Koch/low_cost_robot) | Arm | 6 | $258 (BOM) | MIT | 56% | [2 x Robotis (Dynamixel) XL430-W250-T](/actuators/dynamixel-xl430-w250-t); [4 x Robotis (Dynamixel) XL330-M288-T](/actuators/dynamixel-xl330-m288-t) | [AlexanderKoch-Koch/low\_cost\_robot](https://github.com/AlexanderKoch-Koch/low_cost_robot) (3,400 stars) |
| [OpenArm](https://openarm.dev) | Arm | 14 | $6,500 (BOM) | CERN-OHL-S-2.0, Apache-2.0 | 94% | 4 x Damiao DM-J8009P-2EC; [2 x Damiao DM-J4340P-2EC](/actuators/damiao-dm-j4340p-2ec); [2 x Damiao DM-J4340-2EC](/actuators/damiao-dm-j4340-2ec); [8 x Damiao DM-J4310-2EC](/actuators/damiao-dm-j4310-2ec) | [enactic/openarm](https://github.com/enactic/openarm) (3,700 stars) |
| [PAROL6](https://source-robotics.com/) | Arm | 6 | n/a | GPL-3.0-only | 81% | 6 x Stepper motor with reduction | [PCrnjak/PAROL6-Desktop-robot-arm](https://github.com/PCrnjak/PAROL6-Desktop-robot-arm) (3,400 stars) |
| [Thor](https://github.com/AngelLM/Thor) | Arm | 6 | n/a | CC-BY-SA-4.0 | 75% | 7 x NEMA 17 stepper | [AngelLM/Thor](https://github.com/AngelLM/Thor) (1,600 stars) |
| [Berkeley Humanoid Lite](https://lite.berkeley-humanoid.org) | Humanoid | 22 | $4,312 (BOM) | MIT, CC-BY-SA-4.0 | 88% | 10 x Berkeley Humanoid Lite 6512 BLDC + printed cycloidal gearbox; 12 x Berkeley Humanoid Lite 5010 BLDC + printed cycloidal gearbox | [HybridRobotics/Berkeley-Humanoid-Lite](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite) (2,000 stars) |
| [ToddlerBot](https://toddlerbot.github.io/) | Humanoid | 30 | $6,000 (BOM) | MIT, CC-BY-NC-SA-4.0 | 63% | 8 x Robotis (Dynamixel) XC330-T288-T; 6 x Robotis (Dynamixel) 2XL430-W250-T; 4 x Robotis (Dynamixel) XM430-W210-T; 4 x Robotis (Dynamixel) XC430-T240BB-T | [hshi74/toddlerbot](https://github.com/hshi74/toddlerbot) (800 stars) |
| [Zeroth Bot](https://github.com/kscalelabs/zeroth-bot) | Humanoid | 16 | $350 (BOM) | MIT | 56% | [16 x Feetech STS3215](/actuators/feetech-sts3215) | [kscalelabs/zeroth-bot](https://github.com/kscalelabs/zeroth-bot) (47 stars) |
| [K-Bot](https://github.com/kscalelabs/kbot) | Humanoid | 20 | $8,999 (kit) | CERN-OHL-S-2.0, GPL-3.0-only | 63% | [2 x RobStride RobStride 00](/actuators/robstride-00); [6 x RobStride RobStride 02](/actuators/robstride-02); [8 x RobStride RobStride 03](/actuators/robstride-03); [4 x RobStride RobStride 04](/actuators/robstride-04) | [kscalelabs/kbot](https://github.com/kscalelabs/kbot) (409 stars) |
| [Reachy Mini](https://pollen-robotics.com/reachy-mini/) | Humanoid | 9 | $399 (kit) | Apache-2.0, LicenseRef-CC-BY-NC-SA | 31% | [6 x Robotis (Dynamixel) XL330-M288-T](/actuators/dynamixel-xl330-m288-t); 1 x Robotis (Dynamixel) XC330-M288-T; [2 x Robotis (Dynamixel) XL330-M077-T](/actuators/dynamixel-xl330-m077-t) | [pollen-robotics/reachy\_mini](https://github.com/pollen-robotics/reachy_mini) (1,600 stars) |
| [Poppy Humanoid](https://www.poppy-project.org/) | Humanoid | 25 | $8,000 to $9,000 (BOM) | CC-BY-SA-4.0, GPL-3.0-only | 63% | 19 x Robotis (Dynamixel) MX-28AT; 4 x Robotis (Dynamixel) MX-64AT; 2 x Robotis (Dynamixel) AX-12A | [poppy-project/poppy-humanoid](https://github.com/poppy-project/poppy-humanoid) (1,100 stars) |
| [InMoov](https://inmoov.fr/) | Humanoid | n/a | n/a | LicenseRef-CC-BY-NC | 31% | not itemised | no repo |
| [Open Duck Mini](https://github.com/apirrone/Open_Duck_Mini) | Humanoid | 14 | under $400 (BOM) | Apache-2.0 | 63% | [14 x Feetech STS3215 (7.4 V)](/actuators/feetech-sts3215-c001) | [apirrone/Open\_Duck\_Mini](https://github.com/apirrone/Open_Duck_Mini) (4,600 stars) |
| [Asimov 1](https://menlo.ai/asimov-1) | Humanoid | 25 | $20,000 (kit) | CERN-OHL-S-2.0, GPL-2.0-only | 88% | [3 x ENCOS EC-A6416-P2-25](/actuators/encos-ec-a6416-p2-25); [4 x ENCOS EC-A5013-H17-100](/actuators/encos-ec-a5013-h17-100); [4 x ENCOS EC-A3814-H14-107](/actuators/encos-ec-a3814-h14-107); [4 x ENCOS EC-A4315-P2-36](/actuators/encos-ec-a4315-p2-36); [10 x ENCOS EC-A4310-P2-36](/actuators/encos-ec-a4310-p2-36) | [menloresearch/asimov-1](https://github.com/menloresearch/asimov-1) (1,400 stars) |
| [Solo-8](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware) | Legged | 8 | n/a | BSD-3-Clause | 88% | 8 x T-Motor Antigravity 4004 300KV + 9:1 belt | [open-dynamic-robot-initiative/open\_robot\_actuator\_hardware](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware) (1,500 stars) |
| [Solo-12](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware) | Legged | 12 | n/a | BSD-3-Clause | 88% | 12 x T-Motor Antigravity 4004 300KV + 9:1 belt | [open-dynamic-robot-initiative/open\_robot\_actuator\_hardware](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware) (1,500 stars) |
| [Stanford Pupper](https://stanfordstudentrobotics.org/pupper) | Legged | 12 | n/a | MIT | 56% | 12 x Servo (model per BOM) | [stanfordroboticsclub/StanfordQuadruped](https://github.com/stanfordroboticsclub/StanfordQuadruped) (1,800 stars) |
| [Upkie](https://github.com/upkie/upkie) | Legged | 6 | n/a | Apache-2.0 | 63% | [4 x mjbots qdd100 beta 3](/actuators/mjbots-qdd100); 2 x mjbots Wheel motor (mjbots) | [upkie/upkie](https://github.com/upkie/upkie) (455 stars) |

## Openness matrix

Openness score = share of the eight columns that are full, with partial counting half. Each cell links to the published file or folder. Licence is full when every licence allows commercial use, partial when one is non-commercial.

| Robot | Mechanical CAD | Electronics | Firmware | Software / control | BOM with suppliers | Assembly guide | Sim model | Licence | Score |
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
| YOR | [partial](https://yourownrobot.ai/) | - | - | [full](https://github.com/YOR-robot/YOR) | [full](https://yourownrobot.ai/) | [full](https://yourownrobot.ai/) | [full](https://github.com/YOR-robot/YOR/tree/main/robot) | full | 69% |
| Manmaru YOR | [partial](https://github.com/manmaruai/manmaru-yor) | - | - | [partial](https://github.com/YOR-robot/YOR) | [full](https://docs.google.com/spreadsheets/d/1wTV4-W7uaUN-rPmUG_nEQrrD-Kc_9OFs5pRmW5-EbK4/edit?usp=sharing) | - | [full](https://drive.google.com/drive/folders/1xSVIpzPFBEdiUuaOV5YIRsTOdhVtDF5L) | - | 38% |
| LeKiwi | [full](https://a360.co/4k1P8yO) | - | - | [full](https://github.com/huggingface/lerobot) | [full](https://github.com/SIGRobotics-UIUC/LeKiwi/blob/main/BOM.md) | [full](https://github.com/SIGRobotics-UIUC/LeKiwi/blob/main/Assembly.md) | [full](https://github.com/SIGRobotics-UIUC/LeKiwi/tree/main/URDF) | full | 75% |
| XLeRobot | [full](https://github.com/Vector-Wangel/XLeRobot/tree/main/hardware) | - | - | [full](https://github.com/Vector-Wangel/XLeRobot/tree/main/software) | [full](https://github.com/Vector-Wangel/XLeRobot) | [full](https://github.com/Vector-Wangel/XLeRobot) | [full](https://github.com/Vector-Wangel/XLeRobot/tree/main/simulation) | full | 75% |
| AhaRobot | [full](https://github.com/hilookas/Astra_Hardwares) | - | [full](https://github.com/hilookas/AstraFirmwares) | [full](https://github.com/hilookas/astra_ws) | - | [partial](https://github.com/hilookas/Astra_Hardwares) | [full](https://github.com/hilookas/astra_ws) | partial | 63% |
| SO-100 | [full](https://github.com/TheRobotStudio/SO-ARM100/tree/main/STEP) | - | - | [full](https://github.com/huggingface/lerobot) | [full](https://github.com/TheRobotStudio/SO-ARM100/blob/main/SO100.md) | [full](https://github.com/TheRobotStudio/SO-ARM100/blob/main/SO100.md) | [full](https://github.com/TheRobotStudio/SO-ARM100/tree/main/Simulation) | full | 75% |
| SO-101 | [full](https://github.com/TheRobotStudio/SO-ARM100/tree/main/STEP) | - | - | [full](https://github.com/huggingface/lerobot) | [full](https://github.com/TheRobotStudio/SO-ARM100) | [full](https://huggingface.co/docs/lerobot/so101) | [full](https://github.com/TheRobotStudio/SO-ARM100/tree/main/Simulation) | full | 75% |
| Koch arm | [partial](https://github.com/AlexanderKoch-Koch/low_cost_robot/tree/main/hardware) | - | - | [full](https://github.com/AlexanderKoch-Koch/low_cost_robot) | [full](https://github.com/AlexanderKoch-Koch/low_cost_robot) | [partial](https://github.com/AlexanderKoch-Koch/low_cost_robot) | [partial](https://github.com/AlexanderKoch-Koch/low_cost_robot) | full | 56% |
| OpenArm | [full](https://github.com/enactic/openarm_hardware) | [partial](https://github.com/enactic/openarm_hardware) | [full](https://github.com/enactic/openarm_ker_firmware) | [full](https://github.com/enactic/openarm_can) | [full](https://github.com/enactic/openarm_hardware) | [full](https://docs.openarm.dev/hardware) | [full](https://github.com/enactic/openarm_description) | full | 94% |
| PAROL6 | [partial](https://github.com/PCrnjak/PAROL6-Desktop-robot-arm) | - | [full](https://github.com/PCrnjak/PAROL6-Desktop-robot-arm) | [full](https://github.com/PCrnjak/PAROL6-Desktop-robot-arm) | [full](https://github.com/PCrnjak/PAROL6-Desktop-robot-arm) | [full](https://github.com/PCrnjak/PAROL6-Desktop-robot-arm) | [full](https://github.com/PCrnjak/PAROL6-Desktop-robot-arm) | full | 81% |
| Thor | [full](https://github.com/AngelLM/Thor) | [full](https://github.com/AngelLM/ThorControlPCB) | [partial](https://github.com/AngelLM/Thor) | [partial](https://github.com/AngelLM/Thor-ROS) | [full](https://github.com/AngelLM/Thor) | [full](https://github.com/AngelLM/Thor) | - | full | 75% |
| Berkeley Humanoid Lite | [full](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite/releases) | [partial](https://lite.berkeley-humanoid.org) | [partial](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite) | [full](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite) | [full](https://lite.berkeley-humanoid.org) | [full](https://lite.berkeley-humanoid.org) | [full](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite) | full | 88% |
| ToddlerBot | [full](https://github.com/hshi74/toddlerbot) | - | - | [full](https://github.com/hshi74/toddlerbot) | [partial](https://www.robotis.us/toddlerbot-bundle-kit/) | [full](https://github.com/hshi74/toddlerbot) | [full](https://github.com/hshi74/toddlerbot) | partial | 63% |
| Zeroth Bot | [partial](https://github.com/kscalelabs/zeroth-bot) | - | [full](https://github.com/kscalelabs/zeroth-bot) | [full](https://github.com/kscalelabs/zeroth-bot) | [partial](https://github.com/kscalelabs/zeroth-bot) | - | [partial](https://github.com/kscalelabs/zeroth-bot) | full | 56% |
| K-Bot | [full](https://github.com/kscalelabs/kbot) | [full](https://github.com/kscalelabs/kbot) | - | [full](https://github.com/kscalelabs/kbot) | - | - | [full](https://github.com/kscalelabs/kbot) | full | 63% |
| Reachy Mini | [partial](https://github.com/pollen-robotics/reachy_mini) | - | - | [full](https://github.com/pollen-robotics/reachy_mini) | - | - | [partial](https://github.com/pollen-robotics/reachy_mini) | partial | 31% |
| Poppy Humanoid | [full](https://github.com/poppy-project/poppy-humanoid/releases) | - | - | [full](https://github.com/poppy-project/pypot) | [full](https://github.com/poppy-project/poppy-humanoid/blob/master/hardware/doc/BOM.md) | [full](https://docs.poppy-project.org/) | - | full | 63% |
| InMoov | [partial](https://inmoov.fr/) | - | - | - | [partial](https://inmoov.fr/) | [full](https://inmoov.fr/) | - | partial | 31% |
| Open Duck Mini | [full](https://github.com/apirrone/Open_Duck_Mini) | - | - | [full](https://github.com/apirrone/Open_Duck_Mini_Runtime) | [full](https://github.com/apirrone/Open_Duck_Mini) | [partial](https://github.com/apirrone/Open_Duck_Mini) | [partial](https://github.com/apirrone/Open_Duck_Mini) | full | 63% |
| Asimov 1 | [full](https://github.com/menloresearch/asimov-1/tree/main/mechanical) | [full](https://github.com/menloresearch/asimov-1/tree/main/electrical) | [partial](https://github.com/menloresearch/asimov-1) | [partial](https://github.com/menloresearch/asimov-1) | [full](https://manual.asimov.inc/v1/bom) | [full](https://manual.asimov.inc/) | [full](https://github.com/menloresearch/asimov-1/tree/main/sim-model) | full | 88% |
| Solo-8 | [full](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/tree/master/mechanics/quadruped_robot_8dof_v2) | [full](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware) | [full](https://github.com/open-dynamic-robot-initiative/master-board) | [partial](https://github.com/open-dynamic-robot-initiative/master-board) | [full](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/tree/master/mechanics/quadruped_robot_8dof_v2) | [full](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware) | [partial](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/tree/master/mechanics/quadruped_robot_8dof_v2) | full | 88% |
| Solo-12 | [full](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/tree/master/mechanics/quadruped_robot_12dof_v1) | [full](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware) | [full](https://github.com/open-dynamic-robot-initiative/master-board) | [partial](https://github.com/open-dynamic-robot-initiative/master-board) | [full](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/tree/master/mechanics/quadruped_robot_12dof_v1) | [full](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware) | [partial](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/tree/master/mechanics/quadruped_robot_12dof_v1) | full | 88% |
| Stanford Pupper | [partial](https://pupper.readthedocs.io/en/latest/) | - | - | [full](https://github.com/stanfordroboticsclub/StanfordQuadruped) | [full](https://pupper.readthedocs.io/en/latest/) | [full](https://pupper.readthedocs.io/en/latest/) | - | full | 56% |
| Upkie | [partial](https://github.com/upkie/upkie) | - | - | [full](https://github.com/upkie/upkie) | [partial](https://github.com/upkie/upkie) | [full](https://github.com/upkie/upkie) | [full](https://github.com/upkie/upkie_description) | full | 63% |

## Actuator usage

Joint count by actuator model across the open robots. Catalog actuators link to their spec page; unlisted ones are named as their sources name them.

| Actuator | Brand | Joints | Robots | Catalog |
| --- | --- | --- | --- | --- |
| STS3215 (12 V, 30 kg.cm) | Feetech | 40 | lekiwi, xlerobot, zeroth-bot | [feetech-sts3215](/actuators/feetech-sts3215) |
| STS3215 (7.4 V) | Feetech | 26 | so-100, so-101, open-duck-mini | [feetech-sts3215-c001](/actuators/feetech-sts3215-c001) |
| Antigravity 4004 300KV + 9:1 belt | T-Motor | 20 | solo-8, solo-12 | unlisted |
| MX-28AT | Robotis (Dynamixel) | 19 | poppy-humanoid | unlisted |
| DM-J4310-2EC | Damiao | 16 | manmaru-yor, openarm | [damiao-dm-j4310-2ec](/actuators/damiao-dm-j4310-2ec) |
| 5010 BLDC + printed cycloidal gearbox | Berkeley Humanoid Lite | 12 | berkeley-humanoid-lite | unlisted |
| PiPER joint module | AgileX Robotics | 12 | yor | unlisted |
| Servo (model per BOM) | Off the shelf | 12 | stanford-pupper | unlisted |
| 6512 BLDC + printed cycloidal gearbox | Berkeley Humanoid Lite | 10 | berkeley-humanoid-lite | unlisted |
| EC-A4310-P2-36 | ENCOS | 10 | asimov-1 | [encos-ec-a4310-p2-36](/actuators/encos-ec-a4310-p2-36) |
| XL330-M288-T | Robotis (Dynamixel) | 10 | koch, reachy-mini | [dynamixel-xl330-m288-t](/actuators/dynamixel-xl330-m288-t) |
| DM-J4340P-2EC | Damiao | 8 | manmaru-yor, openarm | [damiao-dm-j4340p-2ec](/actuators/damiao-dm-j4340p-2ec) |
| RobStride 03 | RobStride | 8 | kbot | [robstride-03](/actuators/robstride-03) |
| XC330-T288-T | Robotis (Dynamixel) | 8 | toddlerbot | unlisted |
| NEMA 17 stepper | Off the shelf | 7 | thor | unlisted |
| 2XL430-W250-T | Robotis (Dynamixel) | 6 | toddlerbot | unlisted |
| RobStride 02 | RobStride | 6 | kbot | [robstride-02](/actuators/robstride-02) |
| Stepper motor with reduction | Off the shelf | 6 | parol6 | unlisted |
| DM-J8009P-2EC | Damiao | 4 | openarm | unlisted |
| EC-A3814-H14-107 | ENCOS | 4 | asimov-1 | [encos-ec-a3814-h14-107](/actuators/encos-ec-a3814-h14-107) |
| EC-A4315-P2-36 | ENCOS | 4 | asimov-1 | [encos-ec-a4315-p2-36](/actuators/encos-ec-a4315-p2-36) |
| EC-A5013-H17-100 | ENCOS | 4 | asimov-1 | [encos-ec-a5013-h17-100](/actuators/encos-ec-a5013-h17-100) |
| MAXSwerve drive motor (SPARK Flex) | REV Robotics | 4 | yor | unlisted |
| MAXSwerve steering motor (SPARK MAX) | REV Robotics | 4 | yor | unlisted |
| MX-64AT | Robotis (Dynamixel) | 4 | poppy-humanoid | unlisted |
| qdd100 beta 3 | mjbots | 4 | upkie | [mjbots-qdd100](/actuators/mjbots-qdd100) |
| RobStride 04 | RobStride | 4 | kbot | [robstride-04](/actuators/robstride-04) |
| XC430-T240BB-T | Robotis (Dynamixel) | 4 | toddlerbot | unlisted |
| XM430-W210-T | Robotis (Dynamixel) | 4 | toddlerbot | unlisted |
| EC-A6416-P2-25 | ENCOS | 3 | asimov-1 | [encos-ec-a6416-p2-25](/actuators/encos-ec-a6416-p2-25) |
| AX-12A | Robotis (Dynamixel) | 2 | poppy-humanoid | unlisted |
| DM-J4340-2EC | Damiao | 2 | openarm | [damiao-dm-j4340-2ec](/actuators/damiao-dm-j4340-2ec) |
| RobStride 00 | RobStride | 2 | kbot | [robstride-00](/actuators/robstride-00) |
| Wheel motor (mjbots) | mjbots | 2 | upkie | unlisted |
| XL330-M077-T | Robotis (Dynamixel) | 2 | reachy-mini | [dynamixel-xl330-m077-t](/actuators/dynamixel-xl330-m077-t) |
| XL430-W250-T | Robotis (Dynamixel) | 2 | koch | [dynamixel-xl430-w250-t](/actuators/dynamixel-xl430-w250-t) |
| Standing-desk lift column | Off the shelf | 1 | yor | unlisted |
| XC330-M288-T | Robotis (Dynamixel) | 1 | reachy-mini | unlisted |

## Family tree

- YOR
  - Manmaru YOR

- SO-100
  - SO-101
    - LeKiwi
      - XLeRobot

- Solo-8
  - Solo-12

## Robot notes

### YOR

Bimanual mobile manipulator from NYU and UC Berkeley: four swerve modules, a telescopic lift taken from a standing desk, and two 6-DOF AgileX PiPER arms. The paper puts the BOM under US$10,000. Control code and the MuJoCo model are MIT; the parts list, CAD and build guide sit on the project site.

- **Type:** Mobile manipulator, United States
- **Maintainers:** NYU, UC Berkeley, CUNY
- **DOF:** 16 (2 x 6 arm joints, the lift and 3 planar base DOF; grippers not counted)
- **Cost:** $9,200 (BOM), Paper: under US$10,000; review tally about US$9,200
- **Licence:** MIT
- **Openness:** 69%
- **Repository:** 112 stars, last commit 2026-03-09
- **Actuators:** 21 (PiPER grippers not itemised)
- **Inclusion:** Listed as the root of the YOR family: CAD, the full BOM and the build guide are public on the project site, but the MIT licence is stated for the code and MuJoCo model, not for those hardware files.
- **Sources:** [arXiv 2602.11150: YOR, Your Own Mobile Manipulator (NYU, UC Berkeley); BOM under US$10,000](https://arxiv.org/abs/2602.11150); [YOR-robot/YOR: MuJoCo sim and CAN-bus control, MIT (SPARK Flex / SPARK MAX base, PiPER arms)](https://github.com/YOR-robot/YOR); [yourownrobot.ai: YOR build docs, parts list and CAD](https://yourownrobot.ai/); [Korben: YOR parts about US$9,200 (arms about $5,000, base about $2,700), MIT code](https://korben.info/en/yor-open-source-robot-build-yourself.html)

### Manmaru YOR

Manmaru AI's build of YOR for manufacturing and logistics work: Seeed reBot Arm B601-DM arms (Damiao motors) replace the PiPERs and an aluminium-extrusion frame carries them on the YOR swerve base. The BOM sheet, an arm mounting plate STEP and a URDF are public; the repository assigns no blanket licence and assembly instructions are in preparation.

- **Type:** Mobile manipulator, Japan
- **Maintainers:** Manmaru AI
- **DOF:** 14 (2 x 7 arm actuators (6 joints and the gripper per arm); the YOR base and lift are not counted, unlike YOR's 16)
- **Cost:** $6,300 (BOM), Parts to build from the BOM; about US$12,700 assembled
- **Payload:** 1.5 kg per arm
- **Licence:** none stated
- **Openness:** 38%
- **Repository:** 2 stars, last commit 2026-10-06
- **Derived from:** yor
- **Catalog robot:** [manmaru-yor](/robots#manmaru-yor)
- **Actuators:** 14 (Base motors follow YOR and are not itemised in the Manmaru BOM summary)
- **Inclusion:** Listed as the main derivative of YOR: the full BOM and URDF are public, but the repository states no licence of its own, so the licence column reads missing.
- **Sources:** [Manmaru AI: YOR build with reBot Arm B601 arms and an aluminium-extrusion frame](https://yor.manmaruai.co.jp/en); [manmaruai/manmaru-yor: resource index (BOM sheet, URDF and meshes; no blanket licence)](https://github.com/manmaruai/manmaru-yor); [Seeed reBot Arm B601-DM BOM (Damiao motor mix per arm)](https://github.com/Seeed-Projects/reBot-DevArm/blob/main/hardware/reBot_B601_DM/readme.md)

### LeKiwi

Three-wheel omnidirectional base that carries an SO-101 arm, run from a Raspberry Pi 5 with LeRobot. Every servo is a Feetech STS3215, so the whole robot shares one bus and one spare part. CAD, print meshes, URDF, BOM and assembly guide are Apache-2.0.

- **Type:** Mobile manipulator, United States
- **Maintainers:** SIGRobotics UIUC, Hugging Face LeRobot
- **DOF:** 9 (6 arm servos (5 joints and the gripper) plus 3 wheels)
- **Cost:** $482 (BOM), 12 V kit with the SO-101 leader and follower arms; base alone about US$252
- **Licence:** Apache-2.0
- **Openness:** 75%
- **Repository:** 1500 stars, last commit 2026-08-05
- **Derived from:** so-101
- **Actuators:** 9
- **Sources:** [SIGRobotics-UIUC/LeKiwi: CAD, print meshes, URDF, BOM and assembly, Apache-2.0](https://github.com/SIGRobotics-UIUC/LeKiwi); [LeKiwi BOM: 3 base servos plus SO-101 arms, US$482 for the 12 V kit](https://github.com/SIGRobotics-UIUC/LeKiwi/blob/main/BOM.md); [huggingface/lerobot: control, teleoperation and training stack for SO-101, LeKiwi and Koch, Apache-2.0](https://github.com/huggingface/lerobot)

### XLeRobot

Dual-arm household robot built from two SO-101 arms on a LeKiwi-style base, with head and wrist cameras and VR teleoperation. The basic build is about US$660 before printing and shipping. Hardware files, simulation and software are Apache-2.0.

- **Type:** Mobile manipulator
- **Maintainers:** Vector Wang
- **DOF:** 15 (2 x 6 arm servos plus 3 wheels; the head camera mount is not counted)
- **Cost:** $660 (BOM), Basic US build, excluding 3D printing, tools, shipping and tax
- **Licence:** Apache-2.0
- **Openness:** 75%
- **Repository:** 5700 stars, last commit 2026-10-06
- **Derived from:** lekiwi
- **Actuators:** 15
- **Sources:** [Vector-Wangel/XLeRobot: two SO-101 arms on a LeKiwi base, about US$660, Apache-2.0](https://github.com/Vector-Wangel/XLeRobot); [XLeRobot hardware folder (STL, 3MF and STEP)](https://github.com/Vector-Wangel/XLeRobot/tree/main/hardware)

### AhaRobot

Bimanual mobile manipulator for embodied-AI data collection with its own teleoperation handles, reported at about US$1,000 of hardware (US$2,000 with a GPU computer). STEP, STL, URDF, firmware and ROS 2 code are GPL-3.0 with an added ban on commercial use.

- **Type:** Mobile manipulator, China
- **Maintainers:** Haiqin Cui, Yifu Yuan, Yan Zheng, Jianye Hao
- **DOF:** not published
- **Cost:** $1,000 (BOM), Reported by the authors; an independent paper could not corroborate it
- **Licence:** GPL-3.0-only, LicenseRef-NonCommercial
- **Openness:** 63%
- **Repository:** 25 stars, last commit 2026-10-12
- **Actuators:** 0 (Motor models and counts are not itemised in the repositories)
- **Sources:** [arXiv 2503.10070: AhaRobot, about US$1,000 of hardware](https://arxiv.org/abs/2503.10070); [hilookas/astra\_ws: AhaRobot ROS 2 workspace and URDF, GPL-3.0 with a no-commercial-use term](https://github.com/hilookas/astra_ws); [hilookas/Astra\_Hardwares: AhaRobot STEP and STL files, GPL-3.0 with a no-commercial-use term](https://github.com/hilookas/Astra_Hardwares); [hilookas/AstraFirmwares: AhaRobot firmware, linked from the workspace README](https://github.com/hilookas/AstraFirmwares)

### SO-100

The original 3D-printed LeRobot arm: five joints and a gripper on Feetech STS3215 servos, built as a leader and follower pair for imitation learning. Now marked deprecated in favour of SO-101. STEP, STL and sim files are Apache-2.0.

- **Type:** Arm, France
- **Maintainers:** TheRobotStudio, Hugging Face LeRobot
- **DOF:** 6 (5 joints plus the gripper)
- **Cost:** n/a
- **Licence:** Apache-2.0
- **Openness:** 75%
- **Repository:** 8000 stars, last commit 2026-10-06
- **Actuators:** 6
- **Sources:** [TheRobotStudio/SO-ARM100: SO-100 and SO-101 STEP, STL, sim and sourcing list, Apache-2.0](https://github.com/TheRobotStudio/SO-ARM100); [huggingface/lerobot: control, teleoperation and training stack for SO-101, LeKiwi and Koch, Apache-2.0](https://github.com/huggingface/lerobot)

### SO-101

Successor to SO-100 with easier assembly and rerouted wiring. The follower uses six STS3215 servos at 1:345; the leader mixes 1:147, 1:191 and 1:345 gearing so it back-drives by hand. About US$122 in parts for a follower. STEP, STL, sim models and a sourcing list are Apache-2.0.

- **Type:** Arm, France
- **Maintainers:** TheRobotStudio, Hugging Face LeRobot
- **DOF:** 6 (5 joints plus the gripper)
- **Cost:** $121.94 (BOM), One follower arm; US$229.88 for leader plus follower
- **Licence:** Apache-2.0
- **Openness:** 75%
- **Repository:** 8000 stars, last commit 2026-10-06
- **Derived from:** so-100
- **Catalog robot:** [therobotstudio-so-101](/robots#therobotstudio-so-101)
- **Actuators:** 6
- **Sources:** [TheRobotStudio/SO-ARM100: SO-100 and SO-101 STEP, STL, sim and sourcing list, Apache-2.0](https://github.com/TheRobotStudio/SO-ARM100); [Hugging Face LeRobot: SO-101 assembly guide](https://huggingface.co/docs/lerobot/so101); [huggingface/lerobot: control, teleoperation and training stack for SO-101, LeKiwi and Koch, Apache-2.0](https://github.com/huggingface/lerobot)

### Koch arm

Low-cost Dynamixel arm pair that LeRobot first supported: a US$258 follower on XL430 and XL330 servos and a US$183 leader on XL330-M077s. STL files, a basic MuJoCo sim and step-by-step follower assembly are MIT.

- **Type:** Arm
- **Maintainers:** Alexander Koch
- **DOF:** 6 (5 joints plus the gripper)
- **Cost:** $258 (BOM), Follower arm; leader about US$183
- **Licence:** MIT
- **Openness:** 56%
- **Repository:** 3400 stars, last commit 2024-09-21
- **Actuators:** 6
- **Sources:** [AlexanderKoch-Koch/low\_cost\_robot: follower US$258, leader US$183, STL and MuJoCo sim, MIT](https://github.com/AlexanderKoch-Koch/low_cost_robot)

### OpenArm

Human-scale 7-DOF arm for bimanual research with gravity-compensated teleoperation, on Damiao joint motors. About US$6,500 for a bimanual system. Hardware is CERN-OHL-S-2.0; the CAN library, ROS 2, URDF, MuJoCo and firmware repositories are Apache-2.0.

- **Type:** Arm, Japan
- **Maintainers:** Enactic
- **DOF:** 14 (2 x 7 arm joints; grippers not counted)
- **Cost:** $6,500 (BOM), Complete bimanual system
- **Payload:** 4.1 kg per arm
- **Licence:** CERN-OHL-S-2.0, Apache-2.0
- **Openness:** 94%
- **Repository:** 3700 stars, last commit 2026-11-02
- **Actuators:** 16
- **Sources:** [enactic/openarm: 7-DOF arm, US$6,500 bimanual, hardware CERN-OHL-S-2.0, software Apache-2.0](https://github.com/enactic/openarm); [enactic/openarm\_hardware: CAD, STL and BOM, CERN-OHL-S-2.0](https://github.com/enactic/openarm_hardware); [enactic/openarm\_description: URDF / xacro, Apache-2.0](https://github.com/enactic/openarm_description); [enactic/openarm\_can: CAN motor control library, Apache-2.0](https://github.com/enactic/openarm_can); [Robotics Center wiki: OpenArm joints (DM-J8009P J1-J2, DM-J4340P J3, DM-J4340 J4, DM-J4310 J5-J8), 4.1 kg nominal payload](https://roboticscenter.ai/wiki/openarm/hardware)

### PAROL6

3D-printed six-axis desktop arm on stepper motors with its own control board, commander software and Python API. 400 mm reach and 1 kg payload. STL, BOM, building instructions, control code and URDF / MuJoCo models are GPLv3.

- **Type:** Arm, Croatia
- **Maintainers:** Source Robotics
- **DOF:** 6
- **Cost:** n/a
- **Payload:** 1 kg
- **Licence:** GPL-3.0-only
- **Openness:** 81%
- **Repository:** 3400 stars, last commit 2026-11-01
- **Actuators:** 6
- **Sources:** [PCrnjak/PAROL6-Desktop-robot-arm: STL, BOM, building instructions, control code, GPLv3](https://github.com/PCrnjak/PAROL6-Desktop-robot-arm); [Hackaday.io: PAROL6, 6 axes, 400 mm reach, 1 kg payload, stepper driven](https://hackaday.io/project/191860-parol6-desktop-robotic-arm)

### Thor

Long-running open 3D-printable 6-DOF arm (yaw-roll-roll-yaw-roll-yaw) on stepper motors and an Arduino Mega shield, under EUR 350 in parts. FreeCAD sources, STEP, STL and the control PCB are CC-BY-SA-4.0.

- **Type:** Arm, Spain
- **Maintainers:** Angel L. M.
- **DOF:** 6
- **Cost:** n/a
- **Licence:** CC-BY-SA-4.0
- **Openness:** 75%
- **Repository:** 1600 stars, last commit 2025-05-09
- **Actuators:** 7
- **Sources:** [AngelLM/Thor: FreeCAD, STEP, STL, control PCB, 6 DOF, under EUR 350, CC-BY-SA-4.0](https://github.com/AngelLM/Thor); [Maker Forums: Thor parts list with seven NEMA 17 steppers](https://forum.makerforums.info/t/impressive-open-source-3d-printed-robotic-arm/33528)

### Berkeley Humanoid Lite

80 cm, 16 kg humanoid printed on desktop printers. All 22 joints use one of two actuator sizes, each a brushless motor with a 3D-printed cycloidal gearbox, for about US$4,312 in parts. Code is MIT; CAD and other assets are CC BY-SA 4.0.

- **Type:** Humanoid, United States
- **Maintainers:** UC Berkeley Hybrid Robotics
- **DOF:** 22
- **Cost:** $4,312 (BOM)
- **Licence:** MIT, CC-BY-SA-4.0
- **Openness:** 88%
- **Repository:** 2000 stars, last commit 2026-03-10
- **Actuators:** 22
- **Sources:** [HybridRobotics/Berkeley-Humanoid-Lite: URDF, MJCF, USD and low-level code; code MIT, other assets CC BY-SA 4.0](https://github.com/HybridRobotics/Berkeley-Humanoid-Lite); [arXiv 2504.17249: Berkeley Humanoid Lite, 22 actuators with 3D-printed cycloidal gearboxes](https://arxiv.org/abs/2504.17249); [Humanoid.guide: Berkeley Humanoid Lite uses 10 x 6512 (legs) and 12 x 5010 (arms, grippers)](https://humanoid.guide/?p=19737); [R&D World: Berkeley Humanoid Lite parts total US$4,312](https://www.rdworldonline.com/berkeley-debuts-5000-open-source-humanoid-built-with-desktop-3d-printers/)

### ToddlerBot

Stanford's 30-DOF toddler-sized humanoid for ML research, built from printed parts and Dynamixel servos with a Jetson Orin NX on board; the BOM is about US$6,000. Code is MIT; the Onshape design and STL files are CC BY-NC-SA 4.0, so commercial builds need permission.

- **Type:** Humanoid, United States
- **Maintainers:** Stanford University
- **DOF:** 30 (Project figure; the ROBOTIS bundle below drives 28 axes (each 2XL430 drives two), and the bundle does not say which 2 DOF it leaves out)
- **Cost:** $6,000 (BOM), Community-reported total; Dynamixel bundle alone US$4,128
- **Licence:** MIT, CC-BY-NC-SA-4.0
- **Openness:** 63%
- **Repository:** 800 stars, last commit 2026-04-19
- **Actuators:** 22 (From the ROBOTIS bundle contents; which joint gets which servo is in the project docs)
- **Sources:** [hshi74/toddlerbot: code MIT, design (Onshape, STL) CC BY-NC-SA 4.0](https://github.com/hshi74/toddlerbot); [ROBOTIS ToddlerBot bundle: Dynamixel set and 30 active DOF (7 per arm, 6 per leg, 2 neck, 2 waist)](https://www.robotis.us/toddlerbot-bundle-kit/); [MakerWorld: ToddlerBot print files, 30 DOF, BOM about US$6,000](https://makerworld.com/en/models/1733983)

### Zeroth Bot

Small RISC-V-powered humanoid on 16 Feetech serial bus servos with a BOM from US$350. The repository says hardware, SDK and sim are all open, under MIT. K-Scale Labs has since wound down, so support now comes from the community.

- **Type:** Humanoid, United States
- **Maintainers:** K-Scale Labs
- **DOF:** 16
- **Cost:** $350 (BOM), Starting BOM
- **Licence:** MIT
- **Openness:** 56%
- **Repository:** 47 stars, last commit 2025-03-19
- **Actuators:** 16
- **Sources:** [kscalelabs/zeroth-bot: hardware, SDK and sim, BOM from US$350, MIT](https://github.com/kscalelabs/zeroth-bot); [Circuit Digest: Zeroth Bot uses 16 STS3215 serial bus servos](https://circuitdigest.com/news/zeroth-bot-an-opensource-risc-v-powered-humanoid-robot)

### K-Bot

Full-size 20-DOF humanoid on RobStride QDD actuators, sold as a US$8,999 developer kit. Mechanical and electrical design are CERN-OHL-S; software is GPL-3.0. No public BOM or assembly guide.

- **Type:** Humanoid, United States
- **Maintainers:** K-Scale Labs
- **DOF:** 20
- **Cost:** $8,999 (kit), Base developer kit price
- **Licence:** CERN-OHL-S-2.0, GPL-3.0-only
- **Openness:** 63%
- **Repository:** 409 stars, last commit 2025-11-07
- **Actuators:** 20 (Counts per model from a secondary wiki; joint roles are approximate)
- **Sources:** [kscalelabs/kbot: mechanical and electrical folders, hardware CERN-OHL-S, software GPL-3.0](https://github.com/kscalelabs/kbot); [AI Wiki: K-Bot 20 DOF with 2 RS00, 6 RS02, 8 RS03 and 4 RS04 actuators](https://aiwiki.ai/wiki/k_scale_k_bot); [Launch HN: K-Scale Labs, K-Bot base price US$8,999](https://news.ycombinator.com/item?id=44456904)

### Reachy Mini

Desktop companion robot: a six-servo Stewart platform head, body rotation and two antennas on Dynamixel servos, sold as a kit from US$399. Software is Apache-2.0; hardware design files are CC BY-NC-SA, so they cannot be used commercially.

- **Type:** Humanoid, France
- **Maintainers:** Pollen Robotics, Hugging Face
- **DOF:** 9
- **Cost:** $399 (kit), Lite kit; Wireless US$499
- **Licence:** Apache-2.0, LicenseRef-CC-BY-NC-SA
- **Openness:** 31%
- **Repository:** 1600 stars, last commit 2026-11-02
- **Catalog robot:** [pollen-reachy-mini](/robots#pollen-reachy-mini)
- **Actuators:** 9
- **Sources:** [pollen-robotics/reachy\_mini: software Apache-2.0, hardware design files CC BY-SA-NC](https://github.com/pollen-robotics/reachy_mini); [Pollen Robotics: Reachy Mini Lite US$399, Wireless US$499, sold as a kit](https://pollen-robotics.com/reachy-mini/); [Seeed wiki: Reachy Mini hardware (Dynamixel XL330 and XC330 servos)](https://wiki.seeedstudio.com/reachymini_platforms_reachy_mini_hardware/)

### Poppy Humanoid

Early open-source research humanoid (25 DOF) from Inria, printed and driven by Robotis Dynamixel MX servos. A complete build is US$8,000 to 9,000, about 60% of it actuators. Hardware is CC BY-SA 4.0 and software GPL v3.

- **Type:** Humanoid, France
- **Maintainers:** Poppy Project (Inria Flowers)
- **DOF:** 25
- **Cost:** $8,000 to $9,000 (BOM), Complete build, about 60% actuators
- **Licence:** CC-BY-SA-4.0, GPL-3.0-only
- **Openness:** 63%
- **Repository:** 1100 stars, last commit 2021-12-06
- **Actuators:** 25
- **Sources:** [poppy-project/poppy-humanoid: SolidWorks, STEP and STL, 25 Dynamixel, US$8,000 to 9,000; hardware CC BY-SA, software GPL v3](https://github.com/poppy-project/poppy-humanoid); [Polytech Clermont: Poppy uses 19 MX-28AT, 4 MX-64AT and 2 AX-12A](https://forge.polytech.uca.fr/attachments/download/14493/Poppy_robot.pdf)

### InMoov

Life-size printable humanoid upper body started in 2012, driven by hobby servos (HK15298B, Hitec HS805BB, MG996 class) and usually run with MyRobotLab. STL files and build guides are free for non-commercial use under Creative Commons BY-NC.

- **Type:** Humanoid, France
- **Maintainers:** Gael Langevin
- **DOF:** not published
- **Cost:** n/a
- **Licence:** LicenseRef-CC-BY-NC
- **Openness:** 31%
- **Actuators:** 0 (Servo counts vary by build and are not published as one list)
- **Sources:** [InMoov: printable life-size humanoid, STL files and build guides](https://inmoov.fr/); [Wikipedia: InMoov files under Creative Commons BY-NC](https://en.wikipedia.org/wiki/InMoov); [CTU student paper: InMoov actuated by HK15298B, Hitec HS805BB and MG996 servos](https://stc.fs.cvut.cz/history/2018/sbornik/papers/pdf/8504.pdf)

### Open Duck Mini

42 cm biped modelled on Disney's BDX droid, trained with RL and run on a Raspberry Pi Zero 2W, with a BOM target under US$400. Onshape CAD, BOM sheet, print guide and runtime are Apache-2.0; the assembly guide is still incomplete.

- **Type:** Humanoid, France
- **Maintainers:** Antoine Pirrone
- **DOF:** 14
- **Cost:** under $400 (BOM), Stated target: under US$400
- **Licence:** Apache-2.0
- **Openness:** 63%
- **Repository:** 4600 stars, last commit 2026-01-31
- **Actuators:** 14
- **Sources:** [apirrone/Open\_Duck\_Mini: Onshape CAD, BOM sheet, print and assembly guides, BOM target under US$400, Apache-2.0](https://github.com/apirrone/Open_Duck_Mini); [apirrone/Open\_Duck\_Mini\_Runtime: on-robot policy runtime (Raspberry Pi Zero 2W)](https://github.com/apirrone/Open_Duck_Mini_Runtime); [AIFitLab: Open Duck Mini kit with 14 Feetech STS3215 servos (7.4 V)](https://aifitlab.com/products/openduckmini-open-source-version-of-the-bdx-droid)

### Asimov 1

1.2 m, 35 kg biped humanoid for whole-body control research on ENCOS joint motors, sold as a DIY kit. Mechanical CAD, schematics and PCBs, a MuJoCo model and a BOM are published; hardware is CERN-OHL-S-2.0 and onboard software GPL-2.0.

- **Type:** Humanoid, Singapore
- **Maintainers:** Menlo Research
- **DOF:** 25
- **Cost:** $20,000 (kit), DIY kit price
- **Payload:** 5 kg per arm
- **Licence:** CERN-OHL-S-2.0, GPL-2.0-only
- **Openness:** 88%
- **Repository:** 1400 stars, last commit 2026-10-30
- **Catalog robot:** [menlo-asimov-1](/robots#menlo-asimov-1)
- **Actuators:** 25
- **Sources:** [menloresearch/asimov-1: mechanical CAD, electrical schematics and PCB, MuJoCo model; hardware CERN-OHL-S-2.0, software GPL-2.0](https://github.com/menloresearch/asimov-1); [Asimov 1 manual: bill of materials](https://manual.asimov.inc/v1/bom); [Menlo docs: Asimov 1 mechanical overview (joint motors)](https://docs.menlo.ai/asimov/1/overview/system-tour/mechanical); [Menlo: Asimov 1 DIY kit pricing](https://menlo.ai/order)

### Solo-8

Torque-controlled 8-DOF quadruped from the Open Dynamic Robot Initiative, built from one repeated actuator module: a drone motor with a two-stage 9:1 belt drive. Mechanics, electronics, BOM and assembly are BSD-3-Clause.

- **Type:** Legged, Germany
- **Maintainers:** Open Dynamic Robot Initiative (MPI, NYU)
- **DOF:** 8
- **Cost:** n/a
- **Licence:** BSD-3-Clause
- **Openness:** 88%
- **Repository:** 1500 stars, last commit 2022-09-06
- **Actuators:** 8
- **Sources:** [open-dynamic-robot-initiative/open\_robot\_actuator\_hardware: Solo-8 and Solo-12 mechanics, electronics and assembly, BSD-3-Clause](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware); [ODRI actuator module: T-Motor Antigravity 4004 300KV with a two-stage 9:1 belt](https://www.mintlify.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/actuator-modules/core-v1-1); [open-dynamic-robot-initiative/master-board: driver and master board firmware](https://github.com/open-dynamic-robot-initiative/master-board)

### Solo-12

Solo-8 with a third (abduction) joint per leg: four identical 3-DOF legs on a body module, about 2.5 kg in total. Same open actuator module, electronics and BSD-3-Clause licence.

- **Type:** Legged, Germany
- **Maintainers:** Open Dynamic Robot Initiative (MPI, NYU)
- **DOF:** 12
- **Cost:** n/a
- **Licence:** BSD-3-Clause
- **Openness:** 88%
- **Repository:** 1500 stars, last commit 2022-09-06
- **Derived from:** solo-8
- **Actuators:** 12
- **Sources:** [open-dynamic-robot-initiative/open\_robot\_actuator\_hardware: Solo-8 and Solo-12 mechanics, electronics and assembly, BSD-3-Clause](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware); [ODRI Solo-12 README: 12 DOF, about 2.5 kg, SolidWorks and STL, BOM with suppliers](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/blob/master/mechanics/quadruped_robot_12dof_v1/README.md); [ODRI actuator module: T-Motor Antigravity 4004 300KV with a two-stage 9:1 belt](https://www.mintlify.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/actuator-modules/core-v1-1); [open-dynamic-robot-initiative/master-board: driver and master board firmware](https://github.com/open-dynamic-robot-initiative/master-board)

### Stanford Pupper

Raspberry Pi quadruped with 12 actuators that Stanford built for teaching; its control code is MIT and its BOM and build guide are public. Version 1 is end-of-life; Pupper v3 moves to brushless motors.

- **Type:** Legged, United States
- **Maintainers:** Stanford Student Robotics
- **DOF:** 12
- **Cost:** n/a
- **Licence:** MIT
- **Openness:** 56%
- **Repository:** 1800 stars, last commit 2024-07-03
- **Actuators:** 12
- **Inclusion:** Listed for its full BOM and build guide; the MIT licence is stated for the control code, and the docs restate none for the part files.
- **Sources:** [stanfordroboticsclub/StanfordQuadruped: Pupper v1 control code, MIT](https://github.com/stanfordroboticsclub/StanfordQuadruped); [Stanford Pupper docs: BOM and build guide](https://pupper.readthedocs.io/en/latest/); [Hackster: Stanford Pupper, 12 actuators, Raspberry Pi](https://www.hackster.io/news/the-stanford-pupper-is-a-quadruped-robot-that-s-powered-by-pi-23c2de51adea)

### Upkie

Wheeled biped that balances on two wheels and uses its legs for uneven ground, built from off-the-shelf mjbots actuators and printed parts. Software, URDF and step-by-step build instructions are public; code is Apache-2.0.

- **Type:** Legged, France
- **Maintainers:** Stéphane Caron
- **DOF:** 6
- **Cost:** n/a
- **Licence:** Apache-2.0
- **Openness:** 63%
- **Repository:** 455 stars, last commit 2026-10-11
- **Actuators:** 6
- **Inclusion:** Listed for its Apache-2.0 build instructions and URDF; the printed parts carry no stated CAD licence and the BOM is only named in the instructions.
- **Sources:** [upkie/upkie: wheeled biped software and build instructions, Apache-2.0, mjbots actuators](https://github.com/upkie/upkie); [upkie/upkie\_description: URDF; hip and knee limits from the qdd100 spec](https://github.com/upkie/upkie_description)

## Checked but not listed

| Candidate | Why not listed | Source |
| --- | --- | --- |
| [HopeJR](https://github.com/TheRobotStudio/HOPEJr) | URDF and arm work are public, but the repository states no licence. | [TheRobotStudio/HOPEJr: URDF and arm work, no licence stated](https://github.com/TheRobotStudio/HOPEJr) |
| [Petoi Bittle](https://github.com/PetoiCamp/OpenCat) | Firmware and software are MIT; the frame and board designs are not published. | [PetoiCamp/OpenCat: Bittle and Nybble firmware, MIT; frames and boards not published](https://github.com/PetoiCamp/OpenCat) |
| [Mini Pupper](https://github.com/mangdangroboticsclub/mini_pupper) | Software is Apache-2.0; no licence is stated for the hardware design. | [mangdangroboticsclub/mini\_pupper: software Apache-2.0, no hardware licence stated](https://github.com/mangdangroboticsclub/mini_pupper) |
| [Annin AR4](https://www.anninrobotics.com/) | Build files are downloadable, but no licence is named for them. | [Hackster: Annin AR4 Mark 5, downloads on the Annin Robotics site](https://www.hackster.io/news/chris-annin-calls-the-open-source-ar4-robot-arm-done-with-the-new-final-mark-5-revision-62b51e0ae555) |
| [Reachy 2](https://pollen-robotics.com/reachy/) | Open SDK and URDF only; CAD and BOM are not public. | [actuatorlist robots: Reachy 2 (URDF and SDK open, CAD and BOM not)](https://actuatorlist.com/robots) |