Open humanoids: catalogued, mixable, and one of our own.
A catalog of every humanoid that publishes its design, scored on the same nine openness questions. A builder that mixes legs, torsos, arms, hands and heads across projects and returns a compatibility checklist, a priced bill of materials and a sourcing list. And a reference design of ours: a 23-joint, 1.1 m robot on RobStride actuators with every structural part printed, about $5.6k in parts, derived from Duke Humanoid V2 and Berkeley Humanoid Lite.
What is here
Catalog 41 projects
Humanoids, bipeds and quadrupeds, bimanual and mobile platforms, arms and hands that call themselves open, each scored on editable CAD, itemised BOM, build docs, electronics, code, simulation, controller, licence and reproduction, with cost, size, DOF, actuators and the sources every fact was read from.
Builder mix and match
Choose a lower body, torso, arms, hands and head from the projects that publish their subsystems. The page checks joints, buses, payload, scale and software, marks each check verified or unverified, and adds up a bill of materials with vendors.
Our budget design v0.2
The Fully Open Humanoid: Duke V2's joint layout on RobStride actuators, all-printed structure, BOM, printable STLs, URDF and a MuJoCo standing check. A design release, unbuilt, listed in the catalog on the same terms as everyone else.
Our production design v1
Berkeley Humanoid Lite's adult-sized extended configuration on RobStride actuators: carbon-fibre tube links between printed actuator cups, aluminium plates, dexterous hands. 1.64 m, 22 joints, audited and simulated; built next.
Styled design v2, WIP
Berkeley Humanoid Lite's extended configuration from the paper, built from BHL's own printed parts: eleven of them kept, cut and re-drilled, carbon-fibre tubes between them, RobStride actuators in their cradles, our hip stack and a 2020 cage as narrow as BHL's. 1.64 m, 28 kg, about $5.8k; audited, standing and crouching in simulation.
Where our design comes from
Duke Humanoid V2 joint layout
General Robotics Lab, Duke. 31 RobStride joints, machined aluminium, 35 kg, about $13k in parts. We keep its leg topology (compact hip stack, short thigh, long shank), its bearing-supported joints, its XT30(2+2) daisy-chain harness and its parallel gripper.
Berkeley Humanoid Lite build philosophy
Hybrid Robotics, UC Berkeley. 22 DOF, all-printed, 16 kg, about $4.3k. We take its rule that every structural part comes off a desktop printer, its 2020-extrusion torso, its cheap mini PC and its habit of publishing filament in the BOM.
What changed, and what it saves
Starting from the priced lines of Duke V2's published parts lists ($12,997 in 2026-09), the design page walks through every substitution. The short version:
| Duke Humanoid V2 | Fully Open Humanoid v0.1 | Parts cost |
|---|---|---|
| 35 CNC aluminium parts, SLS prints and fasteners ($4,550) | 34 printed parts, four 2020 extrusions, bearings and fasteners ($380) | −$4,170 |
| 31 actuators: 7-DOF arms, RS04 knees, four gimbal RS05s | 23 actuators: 5-DOF arms, RS03 knees, fixed head | −$1,070 |
| Two RealSense D436 ($708) | Fixed head; one D435i as an optional kit | −$708 |
| MINISFORUM X1-470 mini PC ($1,295) | Intel N100 mini PC ($160); the policy is a small network at 50 Hz | −$1,135 |
| Two 10 Ah packs, six CAN adapters, three USB hubs | Two 8 Ah packs, four CAN adapters, one hub | −$255 |
| Grippers in the core list ($115) | Gripper kit optional, STS3215 servos ($45) | −$115 |
| No E-stop, breaker or contactor | Breaker, contactor and E-stop in the pack lead | +$57 |
| Harness as lab consumables ($30 itemised) | Every connector, wire and terminator itemised ($124) | +$94 |
| Other electronics (TVS, surge protector, voltage checkers, converters) | Fewer TVS, no surge protector, one converter, fused block | −$46 |
| $12,997 | $5,649 core, $6,004 with camera and grippers | −57 % |
Full rationale, torque margins and mass budget →
Build path
Bill of materials
Every part, quantity and price, in tiers: core, optional kits, tools. Order the actuators first.
2 · PrintPrinting
34 printed parts as STL, 7 kg of filament, settings as numbers. Mount rings, couplers and plates; a 250 mm bed.
3 · AssembleAssembly
Three joint kits repeated 23 times, then legs, torso, arms, head, and the whole robot.
4 · WireElectrical
48 V bus with a safety chain, four CAN daisy chains, every cable type and the actuator ID map.
5 · Bring upBring-up
Bench supply first, IDs and zeros, then nine acceptance tests from bus integrity to a first step.
6 · RunSoftware
Isaac Lab and MuJoCo for training, a Python control loop on the robot, the URDF generated from this site's model.
Cost at a glance
| Section | Tier | Subtotal |
|---|
Prices from the vendors' US listings, . Actuator prices are those in the Duke Humanoid V2 hardware release. Shipping, tax and tools are not included. Line by line →
Roadmap
| Milestone | What it delivers | Status |
|---|---|---|
| v0.1 Design | Kinematics, part list, cost model, wiring, URDF, this site | published |
| v0.2 Printable parts | Every printed part as STL with the real RobStride mounting and output interfaces; joint kits with output support bearings; self-collision audit and joint limits; the URDF stands, crouches and takes an 8 N·s push in MuJoCo | published |
| v1 Production design | BHL's extended adult-sized configuration on RobStride: tube links, RS04 hip pitch and knees, laser-cut plates, Amazing Hands; page, STLs, URDF, audit and physics check | published |
| v2 Styled design | The extended Berkeley Humanoid Lite from BHL's parts (CC BY-SA 4.0): RobStride in BHL's cradles, tubes on socket flanges, our hip stack; page, STLs, URDF, audit and physics check | in progress |
| v0.3 Joint-kit test | Print one RS04 and one RS03 kit, bolt them to actuators, load to peak torque; one bonded tube socket to failure; adjust the couplers | next |
| v0.4 Leg | One leg printed and assembled; hanging-leg swing test; updated masses | planned |
| v0.5 Lower body | Pelvis, both legs, torso frame with batteries; standing under a policy trained in Isaac Lab | planned |
| v1.0 Full robot | Arms, head, grippers; walking; release with photos, print plates and a build video | planned |
Contribute
Everything here is generated from one file, tools/build_data.py: the 3D model, the BOM, the printed-parts list, the URDF and, through tools/build_parts.py, every STL. Change a dimension or a price there, run it, and every page updates. Open an issue or a pull request on GitHub. Licences and citation are on the reference page.