{ "name": "humanoidrobots.systems atlas", "url": "https://humanoidrobots.systems", "revision": "2026-09-26", "maintainer": { "name": "Hyperspawn", "url": "https://hyperspawn.ai" }, "cite": "humanoidrobots.systems. Humanoid robot atlas, revision 2026-09-26. https://humanoidrobots.systems", "conventions": { "units": { "heightCm": "cm", "massKg": "kg", "payloadKg": "kg", "speedMps": "m/s", "runtimeMin": "min", "batteryWh": "Wh", "priceUsd": "USD" }, "missing": "A missing spec key means no source yet, not zero. priceUsd null means not for sale.", "opennessScore": "Sum of weights for public artifacts, 0-100." }, "opennessWeights": { "cad": 25, "bom": 20, "sim": 20, "firmware": 15, "software": 10, "policies": 10 }, "levels": [ { "level": 0, "name": "Indexed", "gate": "Known to exist. Atlas page only." }, { "level": 1, "name": "Compiled", "gate": "Package validates against the spec; every fact has a source." }, { "level": 2, "name": "Sim-verified", "gate": "Loads in browser and GPU sim, mass within tolerance of the BOM, holds a stand. Unlocks .training." }, { "level": 3, "name": "Sourced", "gate": "Every BOM line resolves to a live offer in at least two regions. Unlocks the one-click cart." }, { "level": 4, "name": "Built", "gate": "At least one community build report with photos and bring-up logs. Unlocks Build it as the main action." }, { "level": 5, "name": "Certified", "gate": "The robot's maintainer signs the package. Unlocks certified teams and kit sales." } ], "count": 72, "robots": [ { "id": "1x/neo", "url": "https://humanoidrobots.systems/1x/neo", "name": "NEO", "maker": "1X Technologies", "org": "1x", "slug": "neo", "class": "humanoid", "humanoid": true, "status": "announced", "availability": "preorder", "country": "US", "city": "Palo Alto", "year": 2024, "specs": { "heightCm": 165, "massKg": 30, "payloadKg": 25, "runtimeMin": 240, "batteryWh": 842, "priceUsd": 20000, "priceNote": "$20,000 Early Access (priority 2026 delivery, $200 deposit) or $499/month subscription.", "actuators": "22-DOF hands", "compute": "NVIDIA Jetson Thor" }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [ "https://github.com/1x-technologies/1xgpt" ], "links": { "site": "https://www.1x.tech/discover/neo-home-robot", "buy": "https://1x.tech/order" }, "summary": "Soft-bodied home humanoid for household chores, with teleoperated expert assistance. Preorders opened Oct 2025; production began at the Hayward, CA factory in 2026 with consumer deliveries planned for 2026.", "note": "Founded in Norway (formerly Halodi Robotics); now US-based. Official: lift >68 kg, carry 25 kg, 22 dB. First-year 10,000-unit batch reportedly sold out in 5 days. No confirmed customer deliveries found (May 2026 report: units in internal testing first). 1xgpt is a world-model challenge repo (Apache-2.0), not robot software. Runtime/battery from third-party aggregators.", "sources": [ { "url": "https://www.1x.tech/discover/neo-home-robot", "label": "1X NEO order page", "checked": "2026-09-24" }, { "url": "https://www.therobotreport.com/1x-announces-pre-order-launch-neo-humanoid-robot/", "label": "The Robot Report - preorder", "checked": "2026-09-24" }, { "url": "https://www.globenewswire.com/news-release/2026/04/30/3285118/0/en/1x-opens-neo-factory-in-hayward-ca-america-s-first-vertically-integrated-humanoid-robot-factory-with-consumer-shipments-planned-for-2026.html", "label": "1X press release - Hayward factory (Apr 2026)", "checked": "2026-09-24" }, { "url": "https://www.heise.de/en/news/1X-to-deliver-humanoid-household-robot-Neo-to-US-customers-in-2026-11287205.html", "label": "heise - delivery & specs", "checked": "2026-09-24" } ] }, { "id": "agibot/a2", "url": "https://humanoidrobots.systems/agibot/a2", "name": "AgiBot A2 (Yuanzheng)", "maker": "AgiBot (Zhiyuan Robotics)", "org": "agibot", "slug": "a2", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Shanghai", "year": 2024, "specs": { "heightCm": 169, "massKg": 69, "dof": 40, "runtimeMin": 120, "batteryWh": 700, "priceNote": "No official list price on agibot.com (store lists A2 Ultra variant).", "sensors": "360° LiDAR, six HD cameras incl. RGB-D and fisheye, force/torque sensors, mic array" }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://www.agibot.com/products/A2", "buy": "https://store.agibot.com/products/a2-ultra" }, "summary": "Full-size bipedal service humanoid for reception, retail and exhibition roles; it walked 106 km (Suzhou to Shanghai) for a Guinness record in Nov 2025.", "note": "Launched Aug 2024; wheeled A2-W variant. Specs differ by source: Wikipedia gives 1.75 m / 55 kg (launch spec), while the current maker page gives 169 cm / 69 kg / 40+ DoF, which is used here. The battery is swappable. AgiBot also has a newer A3 with model files on GitHub (AgibotTech/A3-A3U-robot-model).", "sources": [ { "url": "https://www.agibot.com/products/A2", "label": "AgiBot A2 product page", "checked": "2026-09-24" }, { "url": "https://en.wikipedia.org/wiki/AgiBot", "label": "Wikipedia: AgiBot", "checked": "2026-09-24" } ] }, { "id": "agibot/x1", "url": "https://humanoidrobots.systems/agibot/x1", "name": "AgiBot Lingxi X1", "maker": "AgiBot (Zhiyuan Robotics)", "org": "agibot", "slug": "x1", "class": "humanoid", "humanoid": true, "status": "active", "availability": "diy", "country": "CN", "city": "Shanghai", "year": 2024, "specs": { "heightCm": 130, "massKg": 33, "dof": 31, "payloadKg": 0.5, "speedMps": 1, "runtimeMin": 120, "actuators": "AgiBot PowerFlow joint modules (R86-2, R86-3, R52, L28)" }, "license": { "sw": "MulanPSL-2.0" }, "openness": { "cad": true, "bom": true, "firmware": false, "sim": true, "policies": true, "software": true }, "opennessScore": 85, "opennessTier": "open-hw", "level": 1, "models": { "urdf": "https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/urdf/x1.urdf", "mjcf": "https://github.com/AgibotTech/agibot_x1_train/blob/main/resources/robots/x1/mjcf/xyber_x1_flat.xml" }, "repos": [ "https://github.com/AgibotTech/agibot_x1_hardware", "https://github.com/AgibotTech/agibot_x1_train", "https://github.com/AgibotTech/agibot_x1_infer" ], "links": { "site": "https://www.agibot.com" }, "summary": "1.3 m open-source DIY humanoid whose hardware drawings, training code and inference stack AgiBot published on GitHub in October 2024.", "note": "Speed of 3.6 km/h (~1.0 m/s) is from press. Hardware repo has dated releases through 2025-03-07. Repos have seen little activity since early/mid 2025 (train last pushed 2024-10), so treat X1 as a legacy open platform. AgiBot now publishes X2 URDFs instead (AgibotTech/agibot_x2_urdf). Licenses (GitHub license API, 2026-09-25): agibot_x1_infer is Mulan PSL v2; agibot_x1_hardware and agibot_x1_train have no license file, so the hardware files are all rights reserved and hw is left undeclared. DOF 31 = 29 PowerFlow joints (R86-2 x9, R86-3 x6, R52 x10, L28 x4) + 2 grippers, per the hardware BOM/SOP and agibot.com.cn; the earlier 34 had no upstream source. Walking policies ship as ONNX in agibot_x1_infer (rl_walk_leg.onnx, rl_walk_leg_shoulder.onnx). The training URDF/MJCF model the 12 leg joints only.", "sources": [ { "url": "https://github.com/AgibotTech/agibot_x1_infer/tree/main/src/module/control_module/policy", "label": "agibot_x1_infer: ONNX walking policies", "checked": "2026-09-25" }, { "url": "https://github.com/AgibotTech/agibot_x1_train/tree/main/resources/robots/x1", "label": "agibot_x1_train: x1.urdf and xyber_x1_flat.xml", "checked": "2026-09-25" }, { "url": "https://github.com/AgibotTech/agibot_x1_hardware/tree/main/%E6%99%BA%E5%85%83%E7%81%B5%E7%8A%80X1_20250307", "label": "agibot_x1_hardware 2025-03-07 BOM and SOP (joint count)", "checked": "2026-09-25" }, { "url": "https://en.wikipedia.org/wiki/AgiBot", "label": "Wikipedia: AgiBot", "checked": "2026-09-24" }, { "url": "https://github.com/AgibotTech/agibot_x1_hardware", "label": "agibot_x1_hardware repo", "checked": "2026-09-24" }, { "url": "https://humanoid.guide/product/agibot-x1/", "label": "Humanoid.guide AgiBot X1", "checked": "2026-09-24" } ] }, { "id": "agility/cassie", "url": "https://humanoidrobots.systems/agility/cassie", "name": "Cassie", "maker": "Agility Robotics", "org": "agility", "slug": "cassie", "class": "biped", "humanoid": true, "status": "discontinued", "availability": "research-only", "country": "US", "city": "Salem", "year": 2017, "specs": { "dof": 10, "priceNote": "No longer sold.", "priceUsd": null }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": false }, "opennessScore": 20, "opennessTier": "partial", "level": 2, "models": { "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/agility_cassie", "menagerie": "agility_cassie" }, "repos": [ "https://github.com/agilityrobotics/cassie-doc", "https://github.com/osudrl/cassie-mujoco-sim" ], "links": { "docs": "https://github.com/agilityrobotics/cassie-doc" }, "summary": "Torso-less bipedal research robot spun out of Oregon State University and sold to research labs. Superseded by Digit, which reuses its leg design.", "note": "Ran an untethered 5K (2021) and set a Guinness record for fastest 100 m by a bipedal robot, 24.73 s (2022, OSU). agilityrobotics/cassie-doc is archived; osudrl/cassie-mujoco-sim last pushed 2023. DOF = actuated joints in menagerie model (5 per leg).", "sources": [ { "url": "https://en.wikipedia.org/wiki/Agility_Robotics", "label": "Wikipedia - Agility Robotics", "checked": "2026-09-24" }, { "url": "https://news.oregonstate.edu/news/bipedal-robot-developed-oregon-state-makes-history-learning-run-completing-5k", "label": "OSU - Cassie 5K", "checked": "2026-09-24" }, { "url": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/agility_cassie", "label": "MuJoCo Menagerie agility_cassie", "checked": "2026-09-24" } ] }, { "id": "agility/digit", "url": "https://humanoidrobots.systems/agility/digit", "name": "Digit", "maker": "Agility Robotics", "org": "agility", "slug": "digit", "class": "humanoid", "humanoid": true, "status": "active", "availability": "not-for-sale", "country": "US", "city": "Salem", "year": 2019, "specs": { "heightCm": 175, "massKg": 65, "dof": 28, "payloadKg": 16, "speedMps": 1.4, "priceNote": "Not publicly priced; supplied to enterprise customers.", "priceUsd": null }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://www.agilityrobotics.com/" }, "summary": "Bipedal logistics humanoid with backward-bending Cassie-derived legs, deployed in warehouses and factories. Digit v4 is in paid deployments; Digit v5 is planned with general availability targeted by end of 2027.", "note": "2026 SEC filings list customers incl. Schaeffler, GXO, Toyota Motor Manufacturing Canada, Amazon, Mercado Libre; >65,000 operating hours. Agility is going public via SPAC (Churchill Capital Corp XI, ticker AGLT), close expected by end of 2026. $300M committed multi-year orders for Digit v5.", "sources": [ { "url": "https://www.geekwire.com/2026/digit-maker-agility-robotics-to-go-public-in-2-5b-deal-heres-what-the-filings-say-about-its-finances/", "label": "GeekWire 2026 - SPAC & filings", "checked": "2026-09-24" }, { "url": "https://www.sec.gov/Archives/edgar/data/2074973/000121390026097764/ea0297114-04.htm", "label": "Churchill Capital XI Form S-4 (2026)", "checked": "2026-09-24" }, { "url": "https://humanoid.guide/product/digit/", "label": "Humanoid.guide Digit specs", "checked": "2026-09-24" } ] }, { "id": "alexanderkoch/koch-v1-1", "url": "https://humanoidrobots.systems/alexanderkoch/koch-v1-1", "name": "Koch v1.1 Low-Cost Robot Arm", "maker": "Alexander Koch / Hugging Face LeRobot", "org": "alexanderkoch", "slug": "koch-v1-1", "class": "arm", "humanoid": false, "status": "orphaned", "availability": "diy", "country": "US", "city": "Palo Alto", "year": 2024, "specs": { "priceNote": "Repo README (2024, US parts): follower arm $278, leader arm $199; printing extra", "actuators": "Follower: Dynamixel XL430-W250-T x2 + XL330-M288-T x4; leader: XL330-M077-T x6" }, "license": { "hw": "Apache-2.0", "sw": "Apache-2.0" }, "openness": { "cad": true, "bom": true, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 75, "opennessTier": "open-hw", "level": 2, "models": { "urdf": "https://github.com/s1lent4gnt/koch-v1-1/blob/main/simulation/follower.urdf", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/low_cost_robot_arm", "menagerie": "low_cost_robot_arm" }, "repos": [ "https://github.com/jess-moss/koch-v1-1", "https://github.com/AlexanderKoch-Koch/low_cost_robot" ], "links": { "site": "https://github.com/jess-moss/koch-v1-1", "docs": "https://github.com/jess-moss/koch-v1-1" }, "summary": "Dynamixel-based low-cost leader/follower arm pair; an assembly-friendly revision of Alexander Koch's low_cost_robot, used in early LeRobot work.", "note": "Repo last pushed Sep 2024; LeRobot community has largely moved to SO-101. Original low_cost_robot is MIT-licensed. Uses stock Dynamixel firmware (firmware=false). policies=false: only datasets are published upstream.", "sources": [ { "url": "https://github.com/jess-moss/koch-v1-1", "label": "Koch v1.1 repo (Apache-2.0, BOM, leader/follower totals)", "checked": "2026-09-25" }, { "url": "https://huggingface.co/datasets/lerobot/koch_pick_place_5_lego", "label": "LeRobot Koch dataset (no official policy)", "checked": "2026-09-25" }, { "url": "https://github.com/AlexanderKoch-Koch/low_cost_robot", "label": "Original low_cost_robot (MIT)", "checked": "2026-09-24" }, { "url": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/low_cost_robot_arm", "label": "MuJoCo Menagerie low_cost_robot_arm", "checked": "2026-09-24" }, { "url": "https://github.com/AlexanderKoch-Koch", "label": "Alexander Koch on GitHub (location)", "checked": "2026-09-24" } ] }, { "id": "anninrobotics/ar4", "url": "https://humanoidrobots.systems/anninrobotics/ar4", "name": "AR4", "maker": "Annin Robotics", "org": "anninrobotics", "slug": "ar4", "class": "arm", "humanoid": false, "status": "active", "availability": "kit", "country": "US", "city": null, "year": null, "specs": { "dof": 6, "priceNote": "Total build cost just over $2,000 USD (varies with part sourcing)" }, "license": { "hw": "LicenseRef-Annin-Robotics-NC-1.1", "sw": "MIT AND LicenseRef-Annin-Robotics-NC-1.1" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 90, "opennessTier": "open-hw", "level": 1, "models": { "urdf": "https://github.com/Annin-Robotics/ar4_ros_driver" }, "repos": [ "https://github.com/Annin-Robotics/ar4_ros_driver", "https://github.com/Annin-Robotics/ar4-hmi" ], "links": { "site": "https://anninrobotics.com/", "buy": "https://anninrobotics.com/", "docs": "https://anninrobotics.com/downloads/", "video": "https://www.youtube.com/watch?v=EwWnPqnSizQ" }, "summary": "Open-plan, low-cost 6-DOF desktop industrial-style robot arm by Chris Annin, programmable via its HMI, Python or ROS.", "note": "Chris Annin declared the design complete with the final Mark 5 revision. ar4_ros_driver is MIT; ar4-hmi uses the Annin Robotics Open Source Non-Commercial License v1.1 (GitHub NOASSERTION), recorded as LicenseRef-Annin-Robotics-NC-1.1. The design files (STLs in ar4-hmi) fall under the same non-commercial license, so hw is LicenseRef-Annin-Robotics-NC-1.1: no commercial use, no rehosting. The current build is MK5 (AR4-MK5 build manual v1.1 on the downloads page). STL files are free; SolidWorks/STEP CAD for MK5 is sold separately ($99). sim=true refers to URDF in the ROS driver repo.", "sources": [ { "url": "https://anninrobotics.com/downloads/", "label": "Annin downloads: AR4-MK5 build manual, STLs, software", "checked": "2026-09-25" }, { "url": "https://github.com/Annin-Robotics/ar4-hmi/blob/main/LICENSE.txt", "label": "ar4-hmi LICENSE.txt (Annin Robotics Open Source Non-Commercial License v1.1)", "checked": "2026-09-25" }, { "url": "https://anninrobotics.com/", "label": "Annin Robotics site", "checked": "2026-09-24" }, { "url": "https://www.hackster.io/news/chris-annin-calls-the-open-source-ar4-robot-arm-done-with-the-new-final-mark-5-revision-62b51e0ae555", "label": "Hackster: AR4 Mark 5 final revision", "checked": "2026-09-24" }, { "url": "https://anninrobotics.com/docs/what-6-axis-robot-arm-models-do-you-recommend-for-around-2000-usd/", "label": "Annin: ~$2000 build cost", "checked": "2026-09-24" } ] }, { "id": "apptronik/apollo", "url": "https://humanoidrobots.systems/apptronik/apollo", "name": "Apollo", "maker": "Apptronik", "org": "apptronik", "slug": "apollo", "class": "humanoid", "humanoid": true, "status": "active", "availability": "not-for-sale", "country": "US", "city": "Austin", "year": 2023, "specs": { "heightCm": 173, "massKg": 73, "payloadKg": 25, "runtimeMin": 240, "priceNote": "Not publicly priced.", "actuators": "Electric", "priceUsd": null }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": false }, "opennessScore": 20, "opennessTier": "partial", "level": 2, "models": { "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/apptronik_apollo", "menagerie": "apptronik_apollo" }, "repos": [ "https://github.com/google-deepmind/mujoco_menagerie" ], "links": { "site": "https://apptronik.com/" }, "summary": "General-purpose industrial humanoid for logistics and manufacturing with a swappable battery pack. Apptronik closed a $935M+ Series A (Feb 2026) to ramp Apollo production and pilots.", "note": "Investors include Google, Mercedes-Benz, B Capital, John Deere, QIA. Funding earmarked partly for a new robot slated to debut in 2026 (apptronik.com has an 'Apollo 2' page).", "sources": [ { "url": "https://www.cnbc.com/2026/02/11/apptronik-raises-520-million-at-5-billion-valuation-for-apollo-robot.html", "label": "CNBC Feb 2026 - $520M extension", "checked": "2026-09-24" }, { "url": "https://www.therobotreport.com/apptronik-brings-in-another-520m-to-ramp-up-apollo-production/", "label": "The Robot Report", "checked": "2026-09-24" }, { "url": "https://humanoid.guide/product/apollo/", "label": "Humanoid.guide Apollo specs", "checked": "2026-09-24" }, { "url": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/apptronik_apollo", "label": "MuJoCo Menagerie apptronik_apollo", "checked": "2026-09-24" } ] }, { "id": "booster/k1", "url": "https://humanoidrobots.systems/booster/k1", "name": "Booster K1", "maker": "Booster Robotics", "org": "booster", "slug": "k1", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Beijing", "year": 2025, "specs": { "heightCm": 95, "massKg": 19.5, "dof": 22, "runtimeMin": 40, "priceUsd": 4999, "priceNote": "Starting price US$4,999 at Oct 21, 2025 launch (Humanoids Daily); higher-compute tiers cost more.", "actuators": "Dual-encoder actuators", "compute": "NVIDIA Jetson Orin NX 8GB (117 TOPS) base; up to 200 TOPS tier", "sensors": "RGB-D camera, 9-axis IMU, microphone array" }, "license": { "hw": "LicenseRef-Proprietary", "sw": "Apache-2.0 AND BSD-3-Clause" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 30, "opennessTier": "partial", "level": 1, "models": { "urdf": "https://github.com/BoosterRobotics/booster_assets/tree/main/robots/K1" }, "repos": [ "https://github.com/BoosterRobotics/booster_assets", "https://github.com/BoosterRobotics/booster_robotics_sdk", "https://github.com/BoosterRobotics/robocup_demo" ], "links": { "site": "https://www.booster.tech" }, "summary": "95 cm kid-size humanoid launched in October 2025 as an entry-level research, education and RoboCup platform.", "note": "booster_assets also contains a T2 model. Licenses: booster_robotics_sdk and robocup_demo Apache-2.0 (the SDK LICENSE is Apache-2.0 text, which GitHub reports as NOASSERTION), booster_assets BSD-3-Clause.", "sources": [ { "url": "https://www.humanoidsdaily.com/news/booster-robotics-launches-k1-robocup-champion-platform", "label": "Humanoids Daily K1 launch", "checked": "2026-09-24" }, { "url": "https://github.com/BoosterRobotics/booster_assets", "label": "booster_assets repo", "checked": "2026-09-24" } ] }, { "id": "booster/t1", "url": "https://humanoidrobots.systems/booster/t1", "name": "Booster T1", "maker": "Booster Robotics", "org": "booster", "slug": "t1", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Beijing", "year": 2024, "specs": { "heightCm": 118, "massKg": 30, "dof": 23, "runtimeMin": 120, "priceNote": "No maker-published price found. Retailers list US pricing from about $29,800 (standard). Grippers (31 DOF) and dexterous-hand (41 DOF) versions exist.", "compute": "NVIDIA Jetson AGX Orin (up to 200 TOPS)" }, "license": { "hw": "LicenseRef-Proprietary", "sw": "Apache-2.0 AND BSD-3-Clause" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 30, "opennessTier": "partial", "level": 2, "models": { "urdf": "https://github.com/BoosterRobotics/booster_assets/tree/main/robots/T1", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/booster_t1", "menagerie": "booster_t1" }, "repos": [ "https://github.com/BoosterRobotics/booster_assets", "https://github.com/BoosterRobotics/booster_robotics_sdk", "https://github.com/BoosterRobotics/booster_gym", "https://github.com/BoosterRobotics/booster_train", "https://github.com/BoosterRobotics/booster_deploy", "https://github.com/BoosterRobotics/robocup_demo" ], "links": { "site": "https://www.booster.tech" }, "summary": "1.18 m developer humanoid with Jetson Orin compute and ROS2 support, used heavily in RoboCup humanoid soccer.", "note": "booster_assets ships T1 URDF/MJCF (23 and 29 DOF variants). Year and HQ city are from press coverage. Licenses: booster_robotics_sdk, booster_gym, booster_train, booster_deploy and robocup_demo Apache-2.0 (GitHub reports NOASSERTION for the Apache text with a copyright header), booster_assets BSD-3-Clause.", "sources": [ { "url": "https://humanoid.guide/product/booster-t1/", "label": "Humanoid.guide Booster T1", "checked": "2026-09-24" }, { "url": "https://github.com/BoosterRobotics/booster_assets", "label": "booster_assets repo", "checked": "2026-09-24" } ] }, { "id": "bostondynamics/atlas", "url": "https://humanoidrobots.systems/bostondynamics/atlas", "name": "Atlas (electric)", "maker": "Boston Dynamics", "org": "bostondynamics", "slug": "atlas", "class": "humanoid", "humanoid": true, "status": "active", "availability": "not-for-sale", "country": "US", "city": "Waltham", "year": 2024, "specs": { "heightCm": 150, "massKg": 89, "dof": 56, "payloadKg": 50, "runtimeMin": 240, "priceNote": "Not publicly priced.", "actuators": "Electric; actuators supplied by Hyundai Mobis", "sensors": "360-degree cameras; tactile-sensing hands", "priceUsd": null }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://bostondynamics.com/products/atlas/" }, "summary": "All-electric successor to the hydraulic Atlas with continuous-rotation joints. Product version shown at CES in Jan 2026; production started and 2026 units are committed to Hyundai RMAC and Google DeepMind.", "note": "Hyundai targets ~30,000 units/yr capacity by 2028 and deployment at its Georgia Metaplant. Specs from Automate.org CES 2026 coverage.", "sources": [ { "url": "https://bostondynamics.com/blog/boston-dynamics-unveils-new-atlas-robot-to-revolutionize-industry/", "label": "Boston Dynamics - new Atlas", "checked": "2026-09-24" }, { "url": "https://www.automate.org/robotics/industry-insights/boston-dynamics-to-begin-production-on-redesigned-atlas-humanoid-in-2026", "label": "Automate.org - CES 2026 production", "checked": "2026-09-24" }, { "url": "https://www.hyundainews.com/releases/4664", "label": "Hyundai CES 2026 release", "checked": "2026-09-24" } ] }, { "id": "bostondynamics/atlas-hydraulic", "url": "https://humanoidrobots.systems/bostondynamics/atlas-hydraulic", "name": "Atlas (hydraulic)", "maker": "Boston Dynamics", "org": "bostondynamics", "slug": "atlas-hydraulic", "class": "humanoid", "humanoid": true, "status": "discontinued", "availability": "research-only", "country": "US", "city": "Waltham", "year": 2013, "specs": { "priceNote": "Never sold commercially.", "actuators": "Hydraulic", "priceUsd": null }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://bostondynamics.com/" }, "summary": "Hydraulic research humanoid first built for the DARPA Robotics Challenge, later known for parkour and gymnastics demos. Retired April 16, 2024.", "note": "Retirement announced on YouTube Apr 16, 2024; electric Atlas unveiled the next day.", "sources": [ { "url": "https://techcrunch.com/2024/04/16/atlas-shrugged-boston-dynamics-retires-its-humanoid-robot/", "label": "TechCrunch - retirement", "checked": "2026-09-24" }, { "url": "https://en.wikipedia.org/wiki/Atlas_(robot)", "label": "Wikipedia - Atlas", "checked": "2026-09-24" } ] }, { "id": "cmu/leap-hand", "url": "https://humanoidrobots.systems/cmu/leap-hand", "name": "LEAP Hand", "maker": "Carnegie Mellon University", "org": "cmu", "slug": "leap-hand", "class": "hand", "humanoid": false, "status": "active", "availability": "diy", "country": "US", "city": "Pittsburgh", "year": 2023, "specs": { "dof": 16, "priceUsd": 2000, "priceNote": "Parts page (as of Aug 2023): full hand ~$1,772 (Dynamixel $1,578 + other $193), Lite ~$714; 'under $2000'. The ROBOTIS/Dexbotics kit partnership has ended.", "actuators": "16x Dynamixel XC330 + U2D2" }, "license": { "hw": "CC-BY-NC-4.0", "sw": "MIT" }, "openness": { "cad": true, "bom": true, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 75, "opennessTier": "open-hw", "level": 2, "models": { "urdf": "https://github.com/leap-hand/LEAP_Hand_Sim", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/leap_hand", "menagerie": "leap_hand" }, "repos": [ "https://github.com/leap-hand/LEAP_Hand_API", "https://github.com/leap-hand/LEAP_Hand_Sim" ], "links": { "site": "https://v1.leaphand.com/", "buy": "https://v1.leaphand.com/purchase", "docs": "https://v1.leaphand.com/" }, "summary": "Low-cost 16-DOF, four-finger anthropomorphic research hand built from Dynamixel servos and readily available parts, assemblable in under 4 hours.", "note": "LEAP Hand v2 (hybrid rigid-soft) also exists. CAD is non-commercial: the LEAP_Hand_API LICENSE file is CC BY-NC 4.0, while its README says CAD is CC BY-NC-SA (no version given) and code is MIT; LEAP_Hand_Sim is MIT. Uses stock Dynamixel firmware. The LEAP purchase page says the ROBOTIS/Dexbotics partnership has ended, so kits and assembled hands are no longer sold through it (the ROBOTIS bundle page still loads); availability is DIY from the Parts list. Third-party assembled hands are not affiliated with LEAP.", "sources": [ { "url": "https://v1.leaphand.com/", "label": "LEAP Hand v1 site", "checked": "2026-09-24" }, { "url": "https://roboticsproceedings.org/rss19/p089.pdf", "label": "RSS 2023 paper", "checked": "2026-09-24" }, { "url": "https://github.com/leap-hand/LEAP_Hand_API", "label": "API repo (license note)", "checked": "2026-09-24" }, { "url": "https://robotis.us/products/leap-hand-bundle-xc330", "label": "ROBOTIS bundle", "checked": "2026-09-24" }, { "url": "https://v1.leaphand.com/purchase", "label": "LEAP Hand purchase page (ROBOTIS/Dexbotics partnership ended)", "checked": "2026-09-25" }, { "url": "https://v1.leaphand.com/parts", "label": "LEAP Hand parts list (costs as of Aug 2023)", "checked": "2026-09-25" } ] }, { "id": "chestnut/aero-hand-open", "url": "https://humanoidrobots.systems/chestnut/aero-hand-open", "name": "Aero Hand Open", "maker": "Chestnut Robotics (formerly TetherIA)", "org": "chestnut", "slug": "aero-hand-open", "class": "hand", "humanoid": false, "status": "active", "availability": "kit", "country": "US", "city": null, "year": 2025, "specs": { "dof": 7, "massKg": 0.389, "priceUsd": 314, "priceNote": "Complete kit $314" }, "license": { "hw": "CC-BY-NC-SA-4.0", "sw": "Apache-2.0" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 90, "opennessTier": "open-hw", "level": 2, "models": { "urdf": "https://github.com/Chestnut-Robotics/aero-open-sim", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/tetheria_aero_hand_open", "menagerie": "tetheria_aero_hand_open" }, "repos": [ "https://github.com/Chestnut-Robotics/aero-hand-open", "https://github.com/Chestnut-Robotics/aero-open-sim" ], "links": { "buy": "https://shop.tetheria.ai/", "docs": "https://docs.tetheria.ai/docs/intro/" }, "summary": "Open-source tendon-driven five-finger hand with 7 actuated DOF (16 joints), fully 3D printed, weighing 389 g, with a Python SDK and ROS2 support.", "note": "TetherIA rebranded to Chestnut Robotics (GitHub org renamed TetherIA -> Chestnut-Robotics). Design files are non-commercial; commercial manufacturing needs a license.", "sources": [ { "url": "https://github.com/Chestnut-Robotics/aero-hand-open", "label": "Aero Hand Open repo (specs, license TL;DR)", "checked": "2026-09-24" }, { "url": "https://x.com/ChestnutRobotic/status/2032330051707146679", "label": "Rebrand announcement", "checked": "2026-09-24" }, { "url": "https://arxiv.org/abs/2608.28578", "label": "arXiv paper", "checked": "2026-09-24" } ] }, { "id": "duke/duke-humanoid", "url": "https://humanoidrobots.systems/duke/duke-humanoid", "name": "Duke Humanoid v1", "maker": "Duke University General Robotics Lab", "org": "duke", "slug": "duke-humanoid", "class": "biped", "humanoid": true, "status": "research", "availability": "research-only", "country": "US", "city": "Durham", "year": 2024, "specs": { "dof": 10, "priceUsd": null }, "license": { "sw": "MIT" }, "openness": { "cad": true, "bom": true, "firmware": false, "sim": true, "policies": true, "software": true }, "opennessScore": 85, "opennessTier": "open-hw", "level": 1, "models": { "urdf": "https://github.com/generalroboticslab/DukeHumanoidv1" }, "repos": [ "https://github.com/generalroboticslab/DukeHumanoidv1" ], "links": { "site": "http://generalroboticslab.com/DukeHumanoidv1/", "docs": "https://app.notion.com/p/Duke-Humanoid-V1-38d54de887d1403a82f2367490c45b89", "video": "https://www.youtube.com/watch?v=RZYkb09JurU" }, "summary": "Open-source 10-DOF research biped for energy-efficient RL locomotion exploiting passive dynamics.", "note": "Paper arXiv:2409.19795. Hardware wiki on Notion holds the BOM, CNC/DIY CAD zips and Fusion files; the GitHub repo holds code, URDF and policies. The repo is MIT; the Notion CAD has no stated license. v1 is legs only on a box body and tethered (48 V bench supplies, external Linux PC over EtherCAT); motors and drives are quote-only from Motorevo. Repo inactive since Jun 2025; the lab published Duke Humanoid V2 repos in Aug-Sep 2026 (generalroboticslab/duke_humanoid_v2).", "sources": [ { "url": "https://github.com/generalroboticslab/DukeHumanoidv1", "label": "Official repo", "checked": "2026-09-24" }, { "url": "http://arxiv.org/abs/2409.19795", "label": "arXiv paper", "checked": "2026-09-24" }, { "url": "https://app.notion.com/p/Duke-Humanoid-V1-38d54de887d1403a82f2367490c45b89", "label": "Duke Humanoid V1 hardware wiki (Notion: BOM, CAD, power, EtherCAT)", "checked": "2026-09-25" }, { "url": "https://github.com/generalroboticslab/duke_humanoid_v2", "label": "duke_humanoid_v2 repo (created 2026-08-25)", "checked": "2026-09-25" } ] }, { "id": "engineai/pm01", "url": "https://humanoidrobots.systems/engineai/pm01", "name": "EngineAI PM01", "maker": "EngineAI (Zhongqing Robotics)", "org": "engineai", "slug": "pm01", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Shenzhen", "year": 2024, "specs": { "heightCm": 138, "massKg": 40, "dof": 24, "speedMps": 2, "runtimeMin": 120, "priceUsd": 12000, "priceNote": "US$12,000 at launch per Maginative / The Robot Report.", "actuators": "EngineAI electric actuators (up to 300 N·m)", "compute": "Intel N97 + NVIDIA Jetson Orin", "sensors": "Intel RealSense depth camera" }, "license": { "hw": "LicenseRef-Proprietary", "sw": "BSD-3-Clause" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 30, "opennessTier": "partial", "level": 1, "models": { "urdf": "https://github.com/engineai-robotics/engineai_robotics_description/tree/master/pm01_edu" }, "repos": [ "https://github.com/engineai-robotics/engineai_robotics_description", "https://github.com/engineai-robotics/engineai_ros2_workspace", "https://github.com/engineai-robotics/engineai_rl_lab", "https://github.com/engineai-robotics/engineai_robotics_native_sdk", "https://github.com/engineai-robotics/engineai_legged_gym" ], "links": { "site": "https://www.engineai.com.cn" }, "summary": "1.38 m, 40 kg developer and commercial humanoid with open training and deployment code; it performed the first humanoid front flip (Feb 2025).", "note": "Launched Dec 2024. Sibling SE01 (Oct 2024; 170 cm, 55 kg, 32 DOF) targets industry, and the T800 (1.73 m) is a newer full-size model. The company filed for a Hong Kong IPO in Apr 2026. The description repo has no license file.", "sources": [ { "url": "https://en.wikipedia.org/wiki/Engine_AI", "label": "Wikipedia: Engine AI", "checked": "2026-09-24" }, { "url": "https://www.maginative.com/article/engineai-expands-lineup-with-pm01-a-lighter-more-agile-humanoid-robot-for-12-000/", "label": "Maginative PM01 launch", "checked": "2026-09-24" }, { "url": "https://www.therobotreport.com/engineai-releases-pm01-humanoid-robot-for-commercial-educational-use/", "label": "The Robot Report PM01", "checked": "2026-09-24" } ] }, { "id": "engineeredarts/ameca", "url": "https://humanoidrobots.systems/engineeredarts/ameca", "name": "Ameca", "maker": "Engineered Arts", "org": "engineeredarts", "slug": "ameca", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "GB", "city": "Falmouth", "year": 2021, "specs": { "heightCm": 187, "massKg": 62, "dof": 61, "priceNote": "Sale by quote; rental available.", "actuators": "Electric; 27 DOF head/face, 34 DOF upper body", "compute": "Embedded robot PC; Tritium robotOS (Linux/Yocto)", "sensors": "2x 8MP eye cameras, binaural mics, 4-ch chest mic, LiDAR safety sensors" }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [ "https://github.com/engineeredarts/tritium_remote" ], "links": { "site": "https://engineeredarts.com/robot/ameca/", "buy": "https://engineeredarts.com/robot/ameca/" }, "summary": "Expressive social humanoid focused on facial expression and human interaction, used at events, museums and in research. Commercial units are mains-powered upper-body robots on a fixed pedestal; no walking version has shipped.", "note": "Current full-size model is Gen 2.6 (2024). An Ameca Desktop Gen 3 (head-and-shoulders) was reportedly released June 2026.", "sources": [ { "url": "https://engineeredarts.com/robot/ameca/", "label": "Engineered Arts - Ameca", "checked": "2026-09-24" }, { "url": "https://en.wikipedia.org/wiki/Ameca_(robot)", "label": "Wikipedia - Ameca", "checked": "2026-09-24" } ] }, { "id": "figure/02", "url": "https://humanoidrobots.systems/figure/02", "name": "Figure 02", "maker": "Figure AI", "org": "figure", "slug": "02", "class": "humanoid", "humanoid": true, "status": "discontinued", "availability": "not-for-sale", "country": "US", "city": "San Jose", "year": 2024, "specs": { "heightCm": 168, "massKg": 70, "payloadKg": 20, "speedMps": 1.2, "runtimeMin": 300, "priceNote": "Never sold publicly.", "actuators": "Electric; 16-DOF hands", "compute": "Onboard VLM; 3x Figure 01 compute", "sensors": "6 RGB cameras", "priceUsd": null }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://www.figure.ai/" }, "summary": "Second-generation Figure humanoid, piloted for about 11 months at BMW Spartanburg. Retired in November 2025 after the launch of Figure 03.", "note": "Figure reports F.02 contributed to production of 30,000+ BMW X3s and loaded 90,000+ sheet-metal parts before retirement.", "sources": [ { "url": "https://www.figure.ai/news/production-at-bmw", "label": "Figure - F.02 at BMW", "checked": "2026-09-24" }, { "url": "https://interestingengineering.com/ai-robotics/figure-humanoid-robots-retires-bmw", "label": "Interesting Engineering - retirement", "checked": "2026-09-24" }, { "url": "https://humanoid.guide/product/figure-02/", "label": "Humanoid.guide Figure 02", "checked": "2026-09-24" } ] }, { "id": "figure/03", "url": "https://humanoidrobots.systems/figure/03", "name": "Figure 03", "maker": "Figure AI", "org": "figure", "slug": "03", "class": "humanoid", "humanoid": true, "status": "active", "availability": "not-for-sale", "country": "US", "city": "San Jose", "year": 2025, "specs": { "heightCm": 172, "massKg": 61, "dof": 35, "payloadKg": 20, "runtimeMin": 300, "priceNote": "Not publicly priced.", "actuators": "Electric; 2x faster with improved torque density vs F.02", "compute": "Helix VLA onboard", "sensors": "Redesigned cameras (2x frame rate, 60% wider FOV), palm cameras, fingertip tactile sensors (~3 g)", "priceUsd": null }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://www.figure.ai/", "video": "https://www.figure.ai/news/introducing-figure-03" }, "summary": "Third-generation Figure humanoid designed around its Helix VLA model for home and commercial use, with soft washable coverings and wireless charging. Built at Figure's BotQ facility.", "note": "Unveiled Oct 9, 2025. 2 kW inductive charging; 9% less mass than F.02. BotQ initial capacity up to 12,000 robots/yr. Height/mass/DOF/payload/runtime from third-party aggregators, not Figure's announcement.", "sources": [ { "url": "https://www.figure.ai/news/introducing-figure-03", "label": "Figure - Introducing Figure 03", "checked": "2026-09-24" }, { "url": "https://humanoid.guide/product/figure-03/", "label": "Humanoid.guide Figure 03", "checked": "2026-09-24" } ] }, { "id": "fourier/gr1", "url": "https://humanoidrobots.systems/fourier/gr1", "name": "Fourier GR-1", "maker": "Fourier (Fourier Intelligence)", "org": "fourier", "slug": "gr1", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Shanghai", "year": 2023, "specs": { "heightCm": 165, "actuators": "Fourier FSA smart actuators" }, "license": { "hw": "LicenseRef-Proprietary", "sw": "MIT AND GPL-3.0 AND LGPL-3.0" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 30, "opennessTier": "partial", "level": 1, "models": { "urdf": "https://github.com/FFTAI/Wiki-GRx-Models/tree/master/GR1_legacy" }, "repos": [ "https://github.com/FFTAI/Wiki-GRx-Models", "https://github.com/FFTAI/fourier-grx-GR1", "https://github.com/FFTAI/fourier-grx-client", "https://github.com/FFTAI/Wiki-GRx-Gym", "https://github.com/FFTAI/Wiki-GRx-Mujoco" ], "links": { "site": "https://www.fftai.com", "docs": "https://github.com/FFTAI/fourier-grx-GR1" }, "summary": "Fourier's first general-purpose humanoid, a 1.65 m robot unveiled in 2023 and later succeeded by GR-2 and GR-3.", "note": "Current sales status is unverified. The model repo files GR1 under 'GR1_legacy', which suggests it has been superseded by GR-2/GR-3. Licenses: fourier-grx-GR1 and fourier-grx-client MIT, Wiki-GRx-Models GPL-3.0, Wiki-GRx-Gym and Wiki-GRx-Mujoco LGPL-3.0.", "sources": [ { "url": "https://en.wikipedia.org/wiki/Fourier_(company)", "label": "Wikipedia: Fourier (company)", "checked": "2026-09-24" }, { "url": "https://github.com/FFTAI/Wiki-GRx-Models", "label": "Wiki-GRx-Models", "checked": "2026-09-24" } ] }, { "id": "fourier/gr2", "url": "https://humanoidrobots.systems/fourier/gr2", "name": "Fourier GR-2", "maker": "Fourier (Fourier Intelligence)", "org": "fourier", "slug": "gr2", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Shanghai", "year": 2024, "specs": { "heightCm": 175, "massKg": 63, "dof": 53, "payloadKg": 3, "runtimeMin": 120, "actuators": "Fourier FSA 2.0 actuators (>380 N·m peak)" }, "license": { "hw": "LicenseRef-Proprietary", "sw": "MIT AND GPL-3.0 AND Apache-2.0" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 30, "opennessTier": "partial", "level": 1, "models": { "urdf": "https://github.com/FFTAI/Wiki-GRx-Models/tree/master/GRX" }, "repos": [ "https://github.com/FFTAI/fourier-grx-GR2", "https://github.com/FFTAI/Wiki-GRx-Models", "https://github.com/FFTAI/fourier_aurora_sdk", "https://github.com/FFTAI/fourier_lab" ], "links": { "site": "https://www.fftai.com", "docs": "https://github.com/FFTAI/fourier-grx-GR2" }, "summary": "Second-generation Fourier humanoid (Sept 2024) with 53 DOF including 12-DOF hands and a detachable battery.", "note": "Payload is 3 kg per arm. Fourier has since launched GR-3. Licenses: fourier-grx-GR2 MIT, Wiki-GRx-Models GPL-3.0, fourier_aurora_sdk Apache-2.0; fourier_lab has no license file.", "sources": [ { "url": "https://en.wikipedia.org/wiki/Fourier_(company)", "label": "Wikipedia: Fourier (company)", "checked": "2026-09-24" }, { "url": "https://www.therobotreport.com/fourier-launches-gr-2-humanoid-software-platform/", "label": "The Robot Report GR-2 launch", "checked": "2026-09-24" } ] }, { "id": "fourier/n1", "url": "https://humanoidrobots.systems/fourier/n1", "name": "Fourier N1", "maker": "Fourier (Fourier Intelligence)", "org": "fourier", "slug": "n1", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Shanghai", "year": 2025, "specs": { "heightCm": 130, "massKg": 38, "dof": 23, "speedMps": 3.5, "runtimeMin": 120, "priceNote": "No price announced at launch; press reported pricing as undetermined.", "actuators": "Fourier FSA actuators; URDF effort limits 95 N·m x4, 54 N·m x7, 30 N·m x12" }, "license": { "sw": "MIT" }, "openness": { "cad": true, "bom": true, "firmware": false, "sim": true, "policies": true, "software": true }, "opennessScore": 85, "opennessTier": "open-hw", "level": 2, "models": { "urdf": "https://github.com/FFTAI/Wiki-GRx-Models/blob/FourierN1/N1/urdf/N1_raw.urdf", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/fourier_n1", "menagerie": "fourier_n1" }, "repos": [ "https://github.com/FFTAI/fourier-grx-N1", "https://github.com/FFTAI/Wiki-GRx-Models", "https://github.com/FFTAI/Wiki-GRx-Deploy", "https://github.com/FFTAI/Wiki-GRx-Gym", "https://github.com/FFTAI/Wiki-GRx-Mujoco", "https://github.com/FFTAI/fourier_actuator_sdk" ], "links": { "site": "https://www.fftai.com", "docs": "https://github.com/FFTAI/fourier-grx-N1" }, "summary": "1.3 m, 38 kg humanoid launched April 2025 with open-released BOM, design drawings, assembly guides and base software.", "note": "The 23 DOF count excludes hands. The open-source package is published as the docs repo FFTAI/fourier-grx-N1 (MIT); there is no FFTAI/N1 repo. Press (Yicai, TMTPost) called it the first open-source humanoid; that claim is disputed. The MIT license covers the docs repo; no license for the hardware files was found, so hw is left undeclared. The N1 URDF (Wiki-GRx-Models, FourierN1 branch) sets a 95 N·m max effort on the four strongest joints; launch press said 96 N·m peak. Walking policies (TorchScript policy_jit_walk.pt) ship in Wiki-GRx-Deploy (FourierN1 branch) with Isaac Gym training (Wiki-GRx-Gym) and MuJoCo sim2sim (Wiki-GRx-Mujoco). fourier-grx itself is a closed binary.", "sources": [ { "url": "https://en.tmtpost.com/post/7534782", "label": "TMTPost: Fourier N1", "checked": "2026-09-24" }, { "url": "https://www.humanoidsdaily.com/news/fourier-intelligence-launches-n1-humanoid-robot-with-open-source-strategy", "label": "Humanoids Daily N1", "checked": "2026-09-24" }, { "url": "https://github.com/FFTAI/fourier-grx-N1", "label": "fourier-grx-N1 repo", "checked": "2026-09-24" }, { "url": "https://github.com/FFTAI/Wiki-GRx-Models/blob/FourierN1/N1/urdf/N1_raw.urdf", "label": "N1 URDF (effort limits 95/54/30 N·m)", "checked": "2026-09-25" }, { "url": "https://github.com/FFTAI/Wiki-GRx-Deploy/tree/FourierN1", "label": "Wiki-GRx-Deploy FourierN1 branch (walking policies)", "checked": "2026-09-25" }, { "url": "https://github.com/FFTAI/fourier_actuator_sdk", "label": "fourier_actuator_sdk", "checked": "2026-09-25" }, { "url": "https://www.fftai.cn/open-source/18", "label": "Fourier N1 open-source launch page", "checked": "2026-09-25" }, { "url": "https://pan.baidu.com/s/1tMbhTLfY-tFFIe2poseqLA?pwd=cedk", "label": "N1 hardware pack on Baidu Netdisk (download needs a Baidu login)", "checked": "2026-09-25" } ] }, { "id": "inmoov/inmoov", "url": "https://humanoidrobots.systems/inmoov/inmoov", "name": "InMoov", "maker": "Gael Langevin", "org": "inmoov", "slug": "inmoov", "class": "humanoid", "humanoid": true, "status": "active", "availability": "diy", "country": "FR", "city": "Paris", "year": 2012, "specs": { "priceNote": "Self-build; no official kit price", "actuators": "hobby servos", "compute": "Arduino + PC running MyRobotLab" }, "license": { "hw": "CC-BY-NC-3.0", "sw": "Apache-2.0" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": false, "policies": false, "software": true }, "opennessScore": 70, "opennessTier": "open-hw", "level": 1, "models": null, "repos": [ "https://github.com/MyRobotLab/myrobotlab", "https://github.com/MyRobotLab/InMoov2" ], "links": { "site": "https://inmoov.fr/", "docs": "https://inmoov.fr/project/" }, "summary": "First open-source 3D-printed life-size humanoid, printable on 12x12x12 cm printers, servo-driven with Arduino and MyRobotLab software.", "note": "Started Jan 2012 as an open-source prosthetic hand. Non-commercial license so not OSHW-compliant. STL files hosted on inmoov.fr (moved off Thingiverse). No official InMoov hardware repo on GitHub; software is MyRobotLab with the InMoov2 service (both Apache-2.0 per the GitHub license API).", "sources": [ { "url": "https://inmoov.fr/project/", "label": "InMoov project page", "checked": "2026-09-24" }, { "url": "https://en.wikipedia.org/wiki/InMoov", "label": "Wikipedia", "checked": "2026-09-24" }, { "url": "https://inmoov.fr/default-hardware-map/", "label": "InMoov BOM / hardware map (2016 text, later edits)", "checked": "2026-09-25" }, { "url": "https://inmoov.fr/product/nervo-board/", "label": "InMoov shop: Nervo board (out of stock)", "checked": "2026-09-25" }, { "url": "https://github.com/MyRobotLab/myrobotlab", "label": "MyRobotLab repo (Apache-2.0)", "checked": "2026-09-25" }, { "url": "https://github.com/MyRobotLab/InMoov2", "label": "InMoov2 MyRobotLab service (Apache-2.0)", "checked": "2026-09-25" } ] }, { "id": "galbot/g1", "url": "https://humanoidrobots.systems/galbot/g1", "name": "Galbot G1", "maker": "Galbot (Galaxy General Robot)", "org": "galbot", "slug": "g1", "class": "wheeled-humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Beijing", "year": 2024, "specs": { "heightCm": 173, "massKg": 85, "dof": 47 }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://www.galbot.com" }, "summary": "Dual-arm humanoid upper body on a foldable leg and omnidirectional wheeled base, deployed in unmanned pharmacies and retail.", "note": "Released June 2024. The 47 DOF include 12-DOF dexterous hands. Reported to be running in 7 Beijing unmanned pharmacies as of mid-2025. Galbot raised $300M, per The Robot Report.", "sources": [ { "url": "https://baike.baidu.com/en/item/Galbot%20G1/1752544", "label": "Baidu Baike: Galbot G1", "checked": "2026-09-25" }, { "url": "https://www.techtimes.com/articles/326666/20260904/galbot-g1-ifa-2026-robot-working-real-pharmacy-shifts-brings-china-spy-law-europe.htm", "label": "Tech Times: Galbot G1 at IFA 2026 (173 cm, 85 kg, 47 DOF, wheeled base)", "checked": "2026-09-25" }, { "url": "https://www.therobotreport.com/galbot-brings-in-300m-to-scale-mobile-manipulator-deployments/", "label": "The Robot Report Galbot funding", "checked": "2026-09-24" } ] }, { "id": "humanoid/hmnd-01", "url": "https://humanoidrobots.systems/humanoid/hmnd-01", "name": "HMND 01", "maker": "Humanoid (SKL Robotics Ltd)", "org": "humanoid", "slug": "hmnd-01", "class": "wheeled-humanoid", "humanoid": true, "status": "announced", "availability": "not-for-sale", "country": "GB", "city": "London", "year": 2025, "specs": { "heightCm": 175, "massKg": 70, "dof": 29, "payloadKg": 15, "speedMps": 1.5, "priceNote": "Not publicly priced.", "actuators": "Electric; optional 12-DOF hand or 1-DOF gripper", "priceUsd": null }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://thehumanoid.ai/product/" }, "summary": "Modular industrial humanoid offered in wheeled (Alpha) and bipedal variants, running the KinetIQ AI stack. First Schaeffler deployments in Germany are scheduled for Dec 2026 to Jun 2027.", "note": "Wheeled Alpha unveiled 2025; a bipedal variant also exists. Schaeffler deal (2026) targets a four-digit number of wheeled units by 2032; raised $152M (Jul 2026). DOF excludes end-effectors. Class reflects the lead wheeled variant.", "sources": [ { "url": "https://www.therobotreport.com/u-k-based-startup-humanoid-unveils-hmnd-01-alpha-mobile-manipulator/", "label": "The Robot Report - HMND 01 Alpha", "checked": "2026-09-24" }, { "url": "https://thehumanoid.ai/humanoid-secures-landmark-deal-with-schaeffler-to-deploy-thousands-of-humanoid-robots/", "label": "Humanoid - Schaeffler deal", "checked": "2026-09-24" }, { "url": "https://siliconcanals.com/uks-humanoid-unveils-hmnd-01/", "label": "Silicon Canals - specs", "checked": "2026-09-24" } ] }, { "id": "hyperspawn/dropbear", "url": "https://humanoidrobots.systems/hyperspawn/dropbear", "name": "Dropbear", "maker": "Hyperspawn Robotics", "org": "hyperspawn", "slug": "dropbear", "class": "humanoid", "humanoid": true, "status": "active", "availability": "preorder", "country": "IN", "city": null, "year": 2023, "specs": { "heightCm": 180, "massKg": 45, "dof": 32, "payloadKg": 5, "runtimeMin": 120, "batteryWh": 960, "priceUsd": 9999, "priceNote": "Pre-assembled kit, $500 refundable deposit, ships Q2 2027 (first 500 units) per hyperspawn.ai. Options: five-finger hand +$1,000, Jetson Orin compute +$2,000, advanced policies +$4,000, covered shell +$500. Self-sourced BOM ~$10,400 (~$8,900 with a Jetson Orin NX); hyperspawn.ai quotes $1.5–3k in parts for a source build, which does not match the BOM.", "actuators": "MyActuator RMD-X10, RMD-X8, RMD-X6 and CEM-60 over 1 Mbit/s CAN (18 per the 2026 BOM; myactuator-can lists 12 RMD-X8 Pro, 4 RMD-X10 V3, 6 CEM-60); 6 NEMA 17 lead-screw steppers in the Stewart-platform neck. hyperspawn.ai: servo + QDD.", "compute": "NVIDIA Jetson AGX Orin 64GB (BOM; Orin NX 16GB alternative) plus one ESP32-DevKitC-V4 CAN node per limb. Kit: Raspberry Pi 5 base, Jetson Orin advanced.", "sensors": "Intel RealSense D455f depth camera, IMU (center-IMU controller role), foot load cells (4x HX711 per foot, dropbear-feet), actuator encoders; five AS5600 magnetic angle sensors per leg controller (observation-safe firmware)" }, "license": { "hw": "MIT AND LicenseRef-Hyperspawn-License", "sw": "MIT AND CC-BY-NC-SA-4.0", "docs": "MIT" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": true, "software": true }, "opennessScore": 100, "opennessTier": "open-hw", "level": 2, "models": { "urdf": "https://github.com/Hyperspawn/dropbear_urdf", "mjcf": "https://github.com/Hyperspawn/dropbear_mjcf/blob/main/dropbear_mjcf.xml", "usd": "https://github.com/Hyperspawn/dropbear-locomotion/blob/main/dropbear_walk/isaaclab_asset/dropbear.usd" }, "repos": [ "https://github.com/Hyperspawn/Dropbear", "https://github.com/Hyperspawn/dropbear_hardware", "https://github.com/Hyperspawn/dropbear_printables", "https://github.com/Hyperspawn/dropbear_bom", "https://github.com/Hyperspawn/dropbear_docs", "https://github.com/Hyperspawn/dropbear_electronics", "https://github.com/Hyperspawn/dropbear_firmware", "https://github.com/Hyperspawn/Dropbear-Neck-Assembly", "https://github.com/Hyperspawn/dropbear-feet", "https://github.com/Hyperspawn/dropbear_urdf", "https://github.com/Hyperspawn/dropbear_mjcf", "https://github.com/Hyperspawn/dropbear_sim", "https://github.com/Hyperspawn/dropbear_gazebo", "https://github.com/Hyperspawn/dropbear_isaac", "https://github.com/Hyperspawn/dropbear_rl", "https://github.com/Hyperspawn/dropbear-locomotion", "https://github.com/Hyperspawn/dropbear_ros", "https://github.com/Hyperspawn/dropbear_rviz", "https://github.com/Hyperspawn/dropbear_brain", "https://github.com/Hyperspawn/dropbear_teleop", "https://github.com/Hyperspawn/dropbear_sim2real", "https://github.com/Hyperspawn/dropbear_testing", "https://github.com/Hyperspawn/dropbear_media", "https://github.com/Hyperspawn/myactuator-can", "https://github.com/Hyperspawn/actuator-testbench", "https://github.com/Hyperspawn/openqdd-hs", "https://github.com/Hyperspawn/opencycloid-hs", "https://github.com/robit-man/dropbear_control" ], "links": { "site": "https://www.hyperspawn.ai/", "buy": "https://www.hyperspawn.ai/buy", "docs": "https://github.com/Hyperspawn/dropbear_docs", "video": "https://vtv7xitynucitt4l.public.blob.vercel-storage.com/robots/hyperspawn/dropbear/sim-walk-v020.mp4" }, "summary": "Full-size open-source humanoid from Hyperspawn and Pointblank: FDM-printed structure on 20x20 aluminium extrusion, MyActuator CAN actuators, an ESP32 node per limb and a Jetson Orin brain. CAD, BOM, printables, firmware, URDF/MJCF/USD and simulation walking policies are public; a pre-assembled kit is on preorder.", "note": "Reference implementation of the ORP spec; gets no ranking advantage anywhere in the suite. Three ways to get one: preorder the assembled kit ($9,999, $500 deposit, Q2 2027), self-source from the open BOM, or print and build from the repos. Level 2 (sim-verified), not 4: no physical walking is published and the locomotion repo calls its policies simulation releases; the v0.1.0 policy passed 128/128 zero-fall 20 s trials at 0.20 m/s in sim, so no top speed is listed. Spec sources conflict and the most recent official statement (hyperspawn.ai, 2026) is used: 1.8 m (home page says 6 ft), 45 kg (URDF sums to 47.7 kg, MJCF to 34.0 kg), 32 DOF (dropbear_firmware configures 31 joints across 6 limb nodes; the locomotion policy drives 14), 48 V battery (home-page label reads 24 V), 2–4 h runtime (lower bound stored). Battery energy is the BOM's 48 V 20 Ah pack. Licenses: most sub-repos are MIT (bom.md's footer says CC BY 4.0); the main Dropbear repo uses the non-commercial Hyperspawn License; dropbear-locomotion (code, weights, USD, media) is CC BY-NC-SA 4.0.", "sources": [ { "url": "https://www.hyperspawn.ai/buy", "label": "hyperspawn.ai: configure & preorder (price, deposit, ship date, specs)", "checked": "2026-09-25" }, { "url": "https://www.hyperspawn.ai/docs/robots/dropbear", "label": "hyperspawn.ai: Dropbear spec sheet", "checked": "2026-09-25" }, { "url": "https://www.hyperspawn.ai/", "label": "hyperspawn.ai home (6 ft / 45 kg / 32 joints)", "checked": "2026-09-25" }, { "url": "https://www.hyperspawn.co/", "label": "hyperspawn.co (legacy domain, same site)", "checked": "2026-09-25" }, { "url": "https://github.com/Hyperspawn/Dropbear", "label": "Dropbear main repo README", "checked": "2026-09-25" }, { "url": "https://github.com/Hyperspawn/dropbear_bom/blob/main/bom.md", "label": "dropbear_bom / bom.md (2026-04 pricing)", "checked": "2026-09-25" }, { "url": "https://github.com/Hyperspawn/dropbear_docs", "label": "dropbear_docs", "checked": "2026-09-25" }, { "url": "https://github.com/Hyperspawn/dropbear_printables", "label": "dropbear_printables (.3mf plates, print settings)", "checked": "2026-09-25" }, { "url": "https://github.com/Hyperspawn/dropbear_firmware/blob/main/docs/can_config.md", "label": "dropbear_firmware CAN config (6 limb nodes, 31 joints)", "checked": "2026-09-25" }, { "url": "https://github.com/Hyperspawn/myactuator-can", "label": "myactuator-can (actuator list, CAN IDs, limits)", "checked": "2026-09-25" }, { "url": "https://github.com/Hyperspawn/Dropbear-Neck-Assembly", "label": "Dropbear-Neck-Assembly (6-DOF stepper neck)", "checked": "2026-09-25" }, { "url": "https://github.com/Hyperspawn/dropbear-feet", "label": "dropbear-feet (load-cell feet)", "checked": "2026-09-25" }, { "url": "https://github.com/Hyperspawn/dropbear-locomotion", "label": "dropbear-locomotion (policies, evaluations)", "checked": "2026-09-25" }, { "url": "https://github.com/Hyperspawn/dropbear-locomotion/blob/main/evaluation/cardinal_0.20_strict_128.json", "label": "v0.1.0 evaluation: 128 trials, 0 falls", "checked": "2026-09-25" }, { "url": "https://github.com/Hyperspawn/dropbear_urdf", "label": "dropbear_urdf", "checked": "2026-09-25" }, { "url": "https://github.com/Hyperspawn/dropbear_mjcf", "label": "dropbear_mjcf", "checked": "2026-09-25" } ] }, { "id": "xrobots/opendog", "url": "https://humanoidrobots.systems/xrobots/opendog", "name": "openDog V3", "maker": "James Bruton (XRobots)", "org": "xrobots", "slug": "opendog", "class": "quadruped", "humanoid": false, "status": "orphaned", "availability": "diy", "country": "GB", "city": null, "year": 2021, "specs": { "priceNote": "No total in the repo: BOM.ods has no prices. A ~$2000 figure circulates but is not stated in the repo.", "actuators": "Brushless motors + ODrive, 3D-printed cycloidal drives, AS5047 encoders" }, "license": { "hw": "MIT", "sw": "MIT" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": false, "policies": false, "software": true }, "opennessScore": 70, "opennessTier": "open-hw", "level": 1, "models": null, "repos": [ "https://github.com/XRobots/openDogV3" ], "links": { "site": "http://XRobots.co.uk", "docs": "https://github.com/XRobots/openDogV3", "video": "https://www.youtube.com/playlist?list=PLpwJoq86vov8uTgd8_WNgBHFpDYemO-OJ" }, "summary": "Large 3D-printed hobby quadruped using brushless motors with ODrive controllers and printed cycloidal gearboxes; CAD, code and BOM are published.", "note": "One-person YouTube project; repo last pushed Mar 2023. City omitted (not public on GitHub). BOM.ods lists parts and links but no prices.", "sources": [ { "url": "https://github.com/XRobots/openDogV3", "label": "openDogV3 repo (MIT, BOM)", "checked": "2026-09-24" }, { "url": "https://github.com/XRobots/openDogV3/blob/main/BOM.ods", "label": "openDogV3 BOM.ods (no prices)", "checked": "2026-09-25" }, { "url": "https://hackaday.com/2021/12/18/opendog-version-3-is-ready-to-go-walkies/", "label": "Hackaday: openDog V3 (Dec 2021)", "checked": "2026-09-24" }, { "url": "https://3dprintingindustry.com/news/james-bruton-begins-work-on-v3-of-his-open-source-3d-printed-robotic-dog-196644/", "label": "3D Printing Industry: V3 development", "checked": "2026-09-24" } ] }, { "id": "kscale/kbot", "url": "https://humanoidrobots.systems/kscale/kbot", "name": "K-Bot", "maker": "K-Scale Labs", "org": "kscale", "slug": "kbot", "class": "humanoid", "humanoid": true, "status": "discontinued", "availability": "diy", "country": "US", "city": "Palo Alto", "year": 2025, "specs": { "heightCm": 140, "massKg": 34, "dof": 20, "payloadKg": 10, "runtimeMin": 240, "priceUsd": 8999, "priceNote": "$8,999 for first 100 units (launch pricing, 2025)", "actuators": "RobStride RS00 x2, RS02 x6, RS03 x8, RS04 x4", "compute": "Raspberry Pi 5", "sensors": "cameras, microphones, head sensor array" }, "license": { "hw": "CERN-OHL-S-2.0", "sw": "GPL-3.0" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": true, "software": true }, "opennessScore": 100, "opennessTier": "open-hw", "level": 1, "models": { "urdf": "https://github.com/kscalelabs/kbot-models" }, "repos": [ "https://github.com/kscalelabs/kbot", "https://github.com/kscalelabs/ksim", "https://github.com/kscalelabs/kscale", "https://github.com/kscalelabs/kos-kbot", "https://github.com/kscalelabs/kbot-models", "https://github.com/kscalelabs/docs", "https://github.com/kscalelabs/firmware", "https://github.com/kscalelabs/robstride", "https://github.com/kscalelabs/kbot_deployment" ], "links": { "docs": "https://github.com/kscalelabs/docs/tree/master/docs/robots/k-bot" }, "summary": "Open-source full-size humanoid from K-Scale Labs; Founder's Edition units shipped in 2025 before the company cancelled pre-orders and wound down in Nov 2025.", "note": "K-Scale cancelled K-Bot pre-orders, refunded deposits and laid off most staff (Nov 4 2025), releasing IP openly. Repo LICENSE files: HW CERN-OHL-S, SW GPL-3.0 (press reported SW MIT); the runtime repos (firmware, robstride, kos-kbot, kbot-models) are MIT, while kbot_deployment and kscalelabs/docs have no license file. Arm lift ~10 kg; runtime up to 4 h (swappable battery). docs.kscale.dev did not resolve on 2026-09-24, so docs are linked at their GitHub source. The mechanical BOM (Kbot_BOM.xlsx, rev KD, 2025-11-07) and 83 STEP files are in kscalelabs/docs. 20 actuated DOF per the docs actuator table; compute is a Raspberry Pi 5 per the electrical page. URDF masses in kbot-models sum to 36.7 kg vs the 34 kg launch figure. Repos not archived but inactive since Nov 2025.", "sources": [ { "url": "https://github.com/kscalelabs/kbot", "label": "K-Bot repo", "checked": "2026-09-24" }, { "url": "https://github.com/kscalelabs/docs/blob/master/docs/robots/k-bot/assets/Kbot_BOM.xlsx", "label": "K-Bot mechanical BOM (Kbot_BOM.xlsx, rev KD)", "checked": "2026-09-25" }, { "url": "https://github.com/kscalelabs/docs/blob/master/docs/robots/k-bot/mechanical.md", "label": "K-Bot docs: mechanical (RobStride actuator table)", "checked": "2026-09-25" }, { "url": "https://github.com/kscalelabs/docs/blob/master/docs/robots/k-bot/electrical.md", "label": "K-Bot docs: electrical (Raspberry Pi 5, 48 V bus)", "checked": "2026-09-25" }, { "url": "https://www.rs-online.com/designspark/k-scale-labs-launches-k-bot-americas-first-open-source-humanoid-robot", "label": "DesignSpark launch specs", "checked": "2026-09-24" }, { "url": "https://www.humanoidsdaily.com/news/k-scale-labs-cancels-k-bot-orders-open-sources-all-ip-after-funding-fails", "label": "Humanoids Daily shutdown", "checked": "2026-09-24" }, { "url": "https://mikekalil.com/blog/k-scale-labs-shuts-down/", "label": "Mike Kalil: K-Scale shuts down", "checked": "2026-09-24" } ] }, { "id": "kscale/zbot", "url": "https://humanoidrobots.systems/kscale/zbot", "name": "Z-Bot (Zeroth Bot)", "maker": "K-Scale Labs", "org": "kscale", "slug": "zbot", "class": "humanoid", "humanoid": true, "status": "orphaned", "availability": "diy", "country": "US", "city": "Palo Alto", "year": 2025, "specs": { "heightCm": 46, "dof": 18, "priceUsd": 999, "priceNote": "$999 (2025); community BOM from ~$350", "actuators": "18 servo motors", "sensors": "cameras, IMU (per press)" }, "license": { "hw": "MIT", "sw": "MIT" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 90, "opennessTier": "open-hw", "level": 1, "models": { "urdf": "https://github.com/kscalelabs/zeroth-bot/blob/main/experiments/teleop/urdf/robot_fixed.urdf" }, "repos": [ "https://github.com/kscalelabs/zeroth-bot", "https://github.com/kscalelabs/kos-zbot", "https://github.com/kscalelabs/ksim-gym-zbot", "https://github.com/kscalelabs/zbot-policy-walking" ], "links": {}, "summary": "Small 3D-printed open-source humanoid (~46 cm, 18 motors) from K-Scale Labs, community-developed as Zeroth Bot; sold as Z-Bot at $999 before K-Scale shut down.", "note": "K-Scale Labs shut down in Nov 2025; the repositories (zeroth-bot, MIT) remain public and community-maintained. No maintainer can certify it until someone adopts it. github.com/kscalelabs/zbot does not exist; the project repo is zeroth-bot. ksim-gym-zbot and zbot-policy-walking contain train.py/convert.py only (no checkpoints), so policies=false.", "sources": [ { "url": "https://github.com/kscalelabs/zeroth-bot", "label": "Zeroth Bot repo", "checked": "2026-09-24" }, { "url": "https://www.techeblog.com/k-scale-labs-open-source-humanoid-robot/", "label": "TechEBlog $999 Z-Bot", "checked": "2026-09-24" }, { "url": "https://www.humanoidsdaily.com/news/k-scale-labs-cancels-k-bot-orders-open-sources-all-ip-after-funding-fails", "label": "Humanoids Daily shutdown", "checked": "2026-09-24" } ] }, { "id": "kepler/k2", "url": "https://humanoidrobots.systems/kepler/k2", "name": "Kepler Forerunner K2 \"Bumblebee\"", "maker": "Kepler Robotics (Shanghai Kepler Exploration Robot Co.)", "org": "kepler", "slug": "k2", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Shanghai", "year": 2024, "specs": { "heightCm": 175, "massKg": 75, "dof": 52, "payloadKg": 30, "runtimeMin": 480, "batteryWh": 2330, "priceUsd": 30000, "priceNote": "Base model US$30,000 per The Robot Report (ICRA 2025); some reports cite RMB 248,000.", "actuators": "Hybrid roller-screw linear + rotary actuators", "compute": "100 TOPS onboard", "sensors": "80+ integrated sensors; tactile dexterous hands" }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://www.gotokepler.com" }, "summary": "175 cm industrial humanoid with hybrid roller-screw linear and rotary actuation, aimed at repetitive factory and logistics work.", "note": "The Forerunner K1 launched Nov 2023, and the K2 debuted at GITEX Oct 2024 before being rebranded 'Bumblebee'. Mass production was announced Sept 2025. Payload is 15 kg per arm (30 kg dual). The 2.33 kWh battery figure is from secondary aggregators. Runtime is up to 8 h on a 1 h charge.", "sources": [ { "url": "https://www.therobotreport.com/kepler-robotics-showcases-k2-bumblebee-icra-2025/", "label": "The Robot Report K2 at ICRA 2025", "checked": "2026-09-24" }, { "url": "https://www.prnewswire.com/news-releases/kepler-debuts-forerunner-k2-humanoid-robot-accelerating-commercial-deployment-302281546.html", "label": "PR Newswire K2 debut", "checked": "2026-09-24" } ] }, { "id": "leju/kuavo", "url": "https://humanoidrobots.systems/leju/kuavo", "name": "Leju Kuavo", "maker": "Leju Robotics", "org": "leju", "slug": "kuavo", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Shenzhen", "year": 2023, "specs": { "speedMps": 1.28, "actuators": "Joints up to 360 N·m" }, "license": { "hw": "LicenseRef-Proprietary" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 30, "opennessTier": "partial", "level": 1, "models": { "urdf": "https://github.com/LejuRobotics/kuavo-ros-opensource" }, "repos": [ "https://github.com/LejuRobotics/kuavo-ros-opensource" ], "links": { "site": "https://lejurobot.com/en" }, "summary": "General-purpose humanoid series running KaihongOS (HarmonyOS-based) with an open-source ROS control stack; Kuavo 5 (Oct 2025) adds convertible biped and wheeled limbs.", "note": "Leju has no official spec sheet; the 4.6 km/h walking speed is press-reported, and reported mass ranges from ~45 kg to ~63.5 kg by generation. The company delivered its 100th full-size humanoid in 2025. The year 2023 is not confirmed by a fetched source. kuavo-ros-opensource is actively pushed (Sept 2026) but has no license file, so its code is all rights reserved and sw is left undeclared.", "sources": [ { "url": "https://en.wikipedia.org/wiki/Leju_Robot", "label": "Wikipedia: Leju Robot", "checked": "2026-09-24" }, { "url": "https://github.com/LejuRobotics/kuavo-ros-opensource", "label": "kuavo-ros-opensource repo", "checked": "2026-09-24" }, { "url": "https://humanoid.guide/product/kuavo-5/", "label": "Humanoid.guide Kuavo-5", "checked": "2026-09-24" } ] }, { "id": "menlo/asimov", "url": "https://humanoidrobots.systems/menlo/asimov", "name": "Asimov 1", "maker": "Menlo Research (Asimov)", "org": "menlo", "slug": "asimov", "class": "humanoid", "humanoid": true, "status": "active", "availability": "kit", "country": "SG", "city": "Singapore", "year": 2026, "specs": { "heightCm": 120, "massKg": 35, "dof": 25, "priceUsd": 20000, "priceNote": "DIY kit $20,000 shipping (README); announced Mar 2026 at $15,000 target with $499 deposit", "actuators": "CAN-bus actuators; 6 DOF/leg, 5 DOF/arm, 1 waist, 2 neck; RSU ankle with passive toes", "compute": "Raspberry Pi 5 (media/network) + Radxa CM5 (motion control)", "sensors": "2MP monocular camera, stereo mic array, 6-DOF IMU, joint states" }, "license": { "hw": "CERN-OHL-S-2.0", "sw": "GPL-2.0" }, "openness": { "cad": true, "bom": false, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 70, "opennessTier": "partial", "level": 1, "models": { "urdf": "https://github.com/menloresearch/asimov-1/blob/main/sim-model/urdf/asimov_1.urdf", "mjcf": "https://github.com/menloresearch/asimov-1/blob/main/sim-model/xmls/asimov_1.xml" }, "repos": [ "https://github.com/menloresearch/asimov-1" ], "links": { "site": "https://menlo.ai/asimov-1", "buy": "https://menlo.ai/asimov-1", "docs": "https://docs.menlo.ai/asimov/1" }, "summary": "1.2 m, 35 kg open-source biped with 25 actuated DOF, sold as an unassembled DIY kit or self-sourced from the published BOM and CAD.", "note": "Kit announced Mar 2026; CAD and sim model open-sourced Apr 2026; shipments reported from Aug 2026. Hands not included in the kit. Build pages send buyers to the maker's own kit first. Repo asimovinc/asimov-v1 redirects to menloresearch/asimov-1. bom=false: docs gate the BOM behind a request form. policies=false: the locomotion policy ships inside the RPU firmware image, not as a separate published file.", "sources": [ { "url": "https://github.com/menloresearch/asimov-1", "label": "Official repo README", "checked": "2026-09-24" }, { "url": "https://www.humanoidsdaily.com/news/asimov-launches-15-000-here-be-dragons-diy-humanoid-kit", "label": "Humanoids Daily kit launch", "checked": "2026-09-24" }, { "url": "https://www.eweek.com/news/menlo-research-asimov-diy-humanoid-robot-kit/", "label": "eWeek (Singapore-based)", "checked": "2026-09-24" } ] }, { "id": "mentee/menteebot", "url": "https://humanoidrobots.systems/mentee/menteebot", "name": "MenteeBot", "maker": "Mentee Robotics", "org": "mentee", "slug": "menteebot", "class": "humanoid", "humanoid": true, "status": "announced", "availability": "not-for-sale", "country": "IL", "city": "Herzliya", "year": 2024, "specs": { "heightCm": 175, "massKg": 70, "dof": 40, "payloadKg": 25, "speedMps": 1.5, "priceNote": "Not for sale.", "sensors": "360-degree vision", "priceUsd": null }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://www.menteebot.com/bot/" }, "summary": "AI-first general-purpose humanoid, now in its third generation (V3), aimed at warehouse and home tasks. Mobileye agreed to acquire Mentee for about $900M in Jan 2026; customer proof-of-concept deployments were expected in 2026 and series production is targeted for 2028.", "note": "Co-founded by Amnon Shashua (Mobileye). Mentee to operate as an independent unit within Mobileye; deal expected to close Q1 2026. HQ Herzliya, Israel.", "sources": [ { "url": "https://finder.startupnationcentral.org/company_page/mentee-robotics", "label": "Startup Nation Finder - Mentee Robotics (Herzliya)", "checked": "2026-09-24" }, { "url": "https://ir.mobileye.com/news-releases/news-release-details/mobileye-acquire-mentee-robotics-accelerate-physical-ai", "label": "Mobileye IR - acquisition", "checked": "2026-09-24" }, { "url": "https://interestingengineering.com/innovation/israel-humanoid-robot-with-360-vision", "label": "Interesting Engineering - MenteeBot V3", "checked": "2026-09-24" } ] }, { "id": "jpl/open-source-rover", "url": "https://humanoidrobots.systems/jpl/open-source-rover", "name": "JPL Open Source Rover", "maker": "NASA Jet Propulsion Laboratory", "org": "jpl", "slug": "open-source-rover", "class": "rover", "humanoid": false, "status": "active", "availability": "diy", "country": "US", "city": "Pasadena", "year": 2017, "specs": { "speedMps": 1.6, "runtimeMin": 180, "priceUsd": 1600, "priceNote": "~$1600 parts cost", "actuators": "10 motors", "compute": "Raspberry Pi" }, "license": { "hw": "Apache-2.0", "sw": "Apache-2.0" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 90, "opennessTier": "open-hw", "level": 1, "models": { "urdf": "https://github.com/nasa-jpl/osr-rover-code/blob/master/ROS/osr_gazebo/urdf/osr.urdf.xacro" }, "repos": [ "https://github.com/nasa-jpl/open-source-rover", "https://github.com/nasa-jpl/osr-rover-code" ], "links": { "site": "https://github.com/nasa-jpl/open-source-rover", "docs": "https://github.com/nasa-jpl/open-source-rover/blob/master/parts_list/README.md", "video": "https://www.youtube.com/watch?v=exHqc_Vuifw" }, "summary": "Build-it-yourself scaled-down six-wheel rocker-bogie rover modeled on JPL's Mars rovers, built mostly from goBILDA COTS parts with a Raspberry Pi.", "note": "OSHWA certified (US002551). Runtime 'at least 3 hours' with a 7.2 Ah battery. Onshape CAD public. Around since 2017, many iterations. Rover software (ROS 2) is in nasa-jpl/osr-rover-code, which includes osr_gazebo: an osr.urdf.xacro model and a Gazebo simulation. No MJCF and no learned policies.", "sources": [ { "url": "https://github.com/nasa-jpl/open-source-rover", "label": "OSR repo README (specs)", "checked": "2026-09-24" }, { "url": "https://certification.oshwa.org/us002551.html", "label": "OSHWA certification", "checked": "2026-09-24" }, { "url": "https://github.com/nasa-jpl/osr-rover-code/tree/master/ROS/osr_gazebo", "label": "osr-rover-code osr_gazebo (URDF xacro + Gazebo sim)", "checked": "2026-09-25" }, { "url": "https://github.com/nasa-jpl/open-source-rover/blob/master/parts_list/README.md", "label": "OSR parts list", "checked": "2026-09-25" } ] }, { "id": "neura/4ne1", "url": "https://humanoidrobots.systems/neura/4ne1", "name": "4NE1", "maker": "NEURA Robotics", "org": "neura", "slug": "4ne1", "class": "humanoid", "humanoid": true, "status": "announced", "availability": "preorder", "country": "DE", "city": "Metzingen", "year": 2024, "specs": { "heightCm": 180, "massKg": 80, "speedMps": 1.4, "priceNote": "Not listed on official site; third-party reports of EUR 98k (Gen 3.5) and EUR 19,999 (Mini) are unverified.", "sensors": "360-degree perception, sensor skin" }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://neura-robotics.com/products/4ne1/", "docs": "https://neurarobotics.px.media/plk/cE/NEURA_Robotics_4NE1_Datasheet_Web.pdf" }, "summary": "Industrial/service humanoid with a capacitive sensor skin and exchangeable forearms, designed with Studio F.A. Porsche. The full-size 4NE1 is open for reservation; a smaller 4NE1 Mini was slated for Spring 2026.", "note": "Official site lists a payload range of 10-100 kg (configuration dependent) and 5 km/h. Wheeled and 7th-axis variants offered.", "sources": [ { "url": "https://neura-robotics.com/products/4ne1/", "label": "NEURA - 4NE1", "checked": "2026-09-24" }, { "url": "https://blog.robozaps.com/b/neura-robotics-4ne1-review", "label": "RoboZaps - CES 2026 pricing", "checked": "2026-09-24" } ] }, { "id": "noetix/bumi", "url": "https://humanoidrobots.systems/noetix/bumi", "name": "Noetix Bumi", "maker": "Noetix Robotics (Songyan Dynamics)", "org": "noetix", "slug": "bumi", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Beijing", "year": 2025, "specs": { "heightCm": 94, "massKg": 12, "dof": 21, "priceUsd": 1400, "priceNote": "9,988 yuan (~US$1,400) per SCMP; presale began Oct 23, 2025." }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": {}, "summary": "94 cm, 12 kg consumer and education biped priced under 10,000 yuan, marketed as the cheapest walking humanoid.", "note": "The 21 DOF figure is from secondary reviews. It is reportedly hard to buy outside China. Marketed with an 'open programming interface', but no public repo was found.", "sources": [ { "url": "https://www.scmp.com/tech/tech-trends/article/3330046/chinese-robotics-start-noetix-debuts-family-friendly-us1400-humanoid", "label": "SCMP: Noetix Bumi", "checked": "2026-09-24" }, { "url": "https://technode.com/2025/10/22/chinas-noetix-robotics-unveils-1370-humanoid-robot-bumi/", "label": "TechNode: Bumi", "checked": "2026-09-24" } ] }, { "id": "noetix/n2", "url": "https://humanoidrobots.systems/noetix/n2", "name": "Noetix N2", "maker": "Noetix Robotics (Songyan Dynamics)", "org": "noetix", "slug": "n2", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Beijing", "year": 2025, "specs": { "heightCm": 120, "massKg": 30, "speedMps": 3.5, "priceNote": "Pre-orders opened Mar 2025. TMTPost gives 39,900-59,900 yuan (~US$5.5k-8.3k), but sources conflict on which price applies to N2 versus E1." }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": {}, "summary": "1.2 m, 30 kg low-cost athletic humanoid capable of backflips and running at up to 3.5 m/s.", "note": "Company founded 2023 in Beijing; its legal name is Songyan Dynamics (Beijing) Technology.", "sources": [ { "url": "https://en.tmtpost.com/post/7497178", "label": "TMTPost: Noetix N2", "checked": "2026-09-24" } ] }, { "id": "odri/solo-12", "url": "https://humanoidrobots.systems/odri/solo-12", "name": "Solo-12", "maker": "Open Dynamic Robot Initiative", "org": "odri", "slug": "solo-12", "class": "quadruped", "humanoid": false, "status": "research", "availability": "diy", "country": "DE", "city": "Tübingen", "year": 2021, "specs": { "dof": 12, "massKg": 2.5, "actuators": "ODRI open-source brushless torque-controlled actuator modules" }, "license": { "hw": "BSD-3-Clause", "sw": "BSD-3-Clause" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 90, "opennessTier": "open-hw", "level": 1, "models": { "urdf": "https://github.com/open-dynamic-robot-initiative/robot_properties_solo/blob/master/src/robot_properties_solo/resources/xacro/solo12.urdf.xacro" }, "repos": [ "https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware", "https://github.com/open-dynamic-robot-initiative/robot_properties_solo", "https://github.com/open-dynamic-robot-initiative/master-board", "https://github.com/open-dynamic-robot-initiative/solo", "https://github.com/open-dynamic-robot-initiative/udriver_firmware", "https://github.com/open-dynamic-robot-initiative/odri_control_interface" ], "links": { "site": "https://open-dynamic-robot-initiative.github.io/", "docs": "https://open-dynamic-robot-initiative.github.io/" }, "summary": "Lightweight, torque-controlled 12-DOF research quadruped built from open-source brushless actuator modules by the Open Dynamic Robot Initiative.", "note": "Multi-institution academic initiative, so no single HQ given. Actuator/solo repos mostly unchanged since 2022-2023; master-board updated 2026. Mass 2.5 kg per the 12-DOF quadruped hardware README (v1, tethered); the v1.1 autonomy upgrade weighs 2.8 kg; 2.2 kg, quoted by some sources, is the Solo-8 figure. License mismatch upstream: the master-board README says BSD 2-Clause while its ordering page says BSD 3-Clause; actuator hardware and software are BSD-3-Clause.", "sources": [ { "url": "https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/blob/master/mechanics/quadruped_robot_12dof_v1/README.md", "label": "ODRI hardware: 12-DOF quadruped v1 README (2.5 kg)", "checked": "2026-09-25" }, { "url": "https://solo.pal-robotics.com/solo", "label": "PAL Robotics Solo page (sales discontinued)", "checked": "2026-09-25" }, { "url": "https://github.com/open-dynamic-robot-initiative/master-board", "label": "master-board repo (README: BSD 2-Clause)", "checked": "2026-09-25" }, { "url": "https://open-dynamic-robot-initiative.github.io/", "label": "ODRI site", "checked": "2026-09-24" }, { "url": "https://www.nature.com/articles/s41598-023-38259-7", "label": "Sci. Reports: Solo12 deep RL", "checked": "2026-09-24" }, { "url": "https://www.tegakari.net/en/2021/08/solo12/", "label": "Tegakari: SOLO 12 (2021)", "checked": "2026-09-24" }, { "url": "https://arxiv.org/pdf/1910.00093", "label": "arXiv: An Open Torque-Controlled Modular Robot", "checked": "2026-09-24" } ] }, { "id": "pal/kangaroo", "url": "https://humanoidrobots.systems/pal/kangaroo", "name": "Kangaroo", "maker": "PAL Robotics", "org": "pal", "slug": "kangaroo", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "ES", "city": "Barcelona", "year": 2021, "specs": { "heightCm": 160, "batteryWh": 976, "priceNote": "Quote only", "actuators": "custom linear actuators with integrated force sensors", "compute": "2x Intel i7 PCs, optional NVIDIA Jetson", "sensors": "4x RGB-D, 1 kHz IMU, optional F/T sensors" }, "license": { "sw": "Apache-2.0" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 30, "opennessTier": "partial", "level": 1, "models": { "urdf": "https://github.com/pal-robotics/kangaroo_robot" }, "repos": [ "https://github.com/pal-robotics/kangaroo_robot", "https://github.com/pal-robotics/kangaroo_simulation" ], "links": { "site": "https://pal-robotics.com/robot/kangaroo/" }, "summary": "Research biped/humanoid with custom linear actuators and configurable arms (14-40 DOF), 1.6 m and 50-65 kg.", "note": "Mass 50-65 kg and DOF 14-40 depend on configuration (6 DOF/leg, 2 torso, 4/5/7-DOF arms). Unveiled 2021, commercially available 2024 (first unit to TU Wien).", "sources": [ { "url": "https://pal-robotics.com/robot/kangaroo/", "label": "PAL Kangaroo page", "checked": "2026-09-24" }, { "url": "https://mikekalil.com/blog/pal-robotics-kangaroo-humanoid-robot/", "label": "Mike Kalil", "checked": "2026-09-24" } ] }, { "id": "pal/talos", "url": "https://humanoidrobots.systems/pal/talos", "name": "TALOS", "maker": "PAL Robotics", "org": "pal", "slug": "talos", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "ES", "city": "Barcelona", "year": 2017, "specs": { "heightCm": 175, "massKg": 95, "dof": 32, "payloadKg": 6, "runtimeMin": 90, "priceNote": "Quote only", "actuators": "torque-controlled joints with torque sensors", "compute": "Ubuntu LTS real-time, EtherCAT 2 kHz", "sensors": "joint torque sensors, F/T wrists and ankles, IMU" }, "license": { "sw": "Apache-2.0" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 30, "opennessTier": "partial", "level": 2, "models": { "urdf": "https://github.com/pal-robotics/talos_robot", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/pal_talos", "menagerie": "pal_talos" }, "repos": [ "https://github.com/pal-robotics/talos_robot", "https://github.com/pal-robotics/talos_simulation" ], "links": { "site": "https://pal-robotics.com/robot/talos/" }, "summary": "Full-size torque-controlled research biped (1.75 m, 95 kg, 32 DOF) with joint torque sensing and EtherCAT control.", "note": "Runtime 1.5 h walking / 3 h standby. Commercial closed hardware; open ROS description and simulation.", "sources": [ { "url": "https://pal-robotics.com/robot/talos/", "label": "PAL TALOS page", "checked": "2026-09-24" }, { "url": "https://www.researchgate.net/publication/322320877_TALOS_A_new_humanoid_research_platform_targeted_for_industrial_applications", "label": "TALOS paper", "checked": "2026-09-24" } ] }, { "id": "petoi/bittle", "url": "https://humanoidrobots.systems/petoi/bittle", "name": "Bittle / Bittle X", "maker": "Petoi", "org": "petoi", "slug": "bittle", "class": "quadruped", "humanoid": false, "status": "active", "availability": "kit", "country": "US", "city": "Pittsburgh", "year": 2020, "specs": { "massKg": 0.29, "runtimeMin": 60, "priceNote": "US$195 on the 2020 Kickstarter; see Petoi store for current Bittle X price", "actuators": "PWM servos", "compute": "NyBoard V1 (customised Arduino Uno) on original Bittle", "sensors": "IMU" }, "license": { "sw": "MIT" }, "openness": { "cad": false, "bom": false, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 45, "opennessTier": "partial", "level": 1, "models": { "urdf": "https://github.com/PetoiCamp/OpenCat-Quadruped-Robot/blob/main/Resources/SimulationModels/bittle_simple.urdf" }, "repos": [ "https://github.com/PetoiCamp/OpenCat-Quadruped-Robot" ], "links": { "site": "https://www.petoi.com/", "buy": "https://www.petoi.com/products/petoi-robot-dog-bittle-x-voice-controlled", "docs": "https://www.petoi.com/pages/opencat-open-source-robot-pet-framework" }, "summary": "Palm-sized servo-driven robot dog kit for STEM education running the open-source OpenCat framework; Bittle X is the current version.", "note": "Only the firmware/software (OpenCat) is open: GitHub reports MIT while Petoi's site says GPL3+. Injection-molded frame CAD not found published, so cad/bom=false. Runtime ~1 h walking per New Atlas. OpenCat repo was renamed from PetoiCamp/OpenCat. A simplified URDF (bittle_simple.urdf/.xml) is in Resources/SimulationModels.", "sources": [ { "url": "https://newatlas.com/robotics/petoi-bittle-robot-dog/", "label": "New Atlas: Bittle Kickstarter", "checked": "2026-09-24" }, { "url": "https://github.com/PetoiCamp/OpenCat-Quadruped-Robot", "label": "OpenCat repo", "checked": "2026-09-24" }, { "url": "https://www.sciencefocus.com/reviews/bittle-robot-dog-review", "label": "BBC Science Focus review", "checked": "2026-09-24" }, { "url": "https://www.petoi.com/products/petoi-robot-dog-bittle-x-voice-controlled", "label": "Petoi Bittle X product page", "checked": "2026-09-24" } ] }, { "id": "pndbotics/adam-lite", "url": "https://humanoidrobots.systems/pndbotics/adam-lite", "name": "Adam Lite", "maker": "PNDbotics", "org": "pndbotics", "slug": "adam-lite", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Beijing", "year": 2024, "specs": { "heightCm": 160, "massKg": 60, "dof": 25, "actuators": "quasi-direct-drive actuators" }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": false }, "opennessScore": 20, "opennessTier": "partial", "level": 2, "models": { "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/pndbotics_adam_lite", "menagerie": "pndbotics_adam_lite" }, "repos": [], "links": { "site": "https://www.pndbotics.com/humanoid" }, "summary": "Full-size biped from PNDbotics, the baseline configuration of the Adam line, with 25 force-controlled QDD actuators.", "note": "Not open hardware; included because a model is in MuJoCo Menagerie. Specs from reseller pages only. HQ Beijing per company-profile aggregators.", "sources": [ { "url": "https://tracxn.com/d/companies/pndbotics/__0rk_q6ginbyQPxUL5C2dXjou3MgJ6vPEAO2h3Ary3C4", "label": "Tracxn - PNDbotics profile (Beijing)", "checked": "2026-09-24" }, { "url": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/pndbotics_adam_lite", "label": "MuJoCo Menagerie", "checked": "2026-09-24" }, { "url": "https://www.robotsinternational.com/Pndbotics-Adam-Lite-Humanoid-Robot.htm", "label": "Reseller spec page", "checked": "2026-09-24" }, { "url": "https://x.com/TheHumanoidHub/status/1831018831470534879", "label": "Humanoid Hub (debut)", "checked": "2026-09-24" } ] }, { "id": "pollen/amazing-hand", "url": "https://humanoidrobots.systems/pollen/amazing-hand", "name": "AmazingHand", "maker": "Pollen Robotics", "org": "pollen", "slug": "amazing-hand", "class": "hand", "humanoid": false, "status": "active", "availability": "diy", "country": "FR", "city": "Bordeaux", "year": 2025, "specs": { "dof": 8, "massKg": 0.4, "priceNote": "Upstream BOM: €116.89 per hand, €128.28 with the Waveshare board (EUR only; printing extra)", "actuators": "8x Feetech SCS0009 servos (2 per finger)" }, "license": { "hw": "CC-BY-4.0", "sw": "Apache-2.0" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 90, "opennessTier": "open-hw", "level": 1, "models": { "mjcf": "https://github.com/pollen-robotics/AmazingHand/blob/main/Demo/AHSimulation/AHSimulation/AH_Right/mjcf/robot.xml" }, "repos": [ "https://github.com/pollen-robotics/AmazingHand" ], "links": { "site": "https://huggingface.co/blog/pollen-robotics/amazing-hand", "buy": "https://shop.wowrobo.com/products/amazing-hand-the-open-source-robotic-hand-kit", "docs": "https://github.com/pollen-robotics/AmazingHand" }, "summary": "Fully 3D-printable 8-DOF four-finger humanoid hand with all actuators inside the hand, designed for Pollen's Reachy2 wrist but adaptable.", "note": "An 'Amazing Hand Enhanced' branch exists. Third-party kits from WowRobo/Seeed. Onshape CAD public. Left and right MJCF models ship in Demo/AHSimulation.", "sources": [ { "url": "https://github.com/pollen-robotics/AmazingHand", "label": "AmazingHand repo (licenses, specs)", "checked": "2026-09-24" }, { "url": "https://huggingface.co/blog/pollen-robotics/amazing-hand", "label": "Hugging Face blog announcement", "checked": "2026-09-24" }, { "url": "https://docs.google.com/spreadsheets/d/1QH2ePseqXjAhkWdS9oBYAcHPrxaxkSRCgM_kOK0m52E/edit?gid=1269903342#gid=1269903342", "label": "AmazingHand BOM sheet (EUR totals)", "checked": "2026-09-25" } ] }, { "id": "pollen/reachy2", "url": "https://humanoidrobots.systems/pollen/reachy2", "name": "Reachy 2", "maker": "Pollen Robotics (Hugging Face)", "org": "pollen", "slug": "reachy2", "class": "wheeled-humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "FR", "city": "Bordeaux", "year": 2024, "specs": { "heightCm": 166, "massKg": 50, "dof": 18, "payloadKg": 3, "speedMps": 0.83, "batteryWh": 840, "priceUsd": 70000, "priceNote": "~$70,000 (Hugging Face); IEEE Robots Guide lists $36k-$70k by config", "actuators": "Orbita parallel joints (neck, wrists)", "compute": "SolidRun BedRock V3000 industrial PC", "sensors": "2x IMX296 RGB, Orbbec Gemini 336 RGB-D, ToF, RPLIDAR S2, IMU, microphones" }, "license": { "sw": "Apache-2.0" }, "openness": { "cad": false, "bom": false, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 45, "opennessTier": "partial", "level": 1, "models": { "mjcf": "https://github.com/pollen-robotics/reachy2_mujoco" }, "repos": [ "https://github.com/pollen-robotics/reachy2-sdk", "https://github.com/pollen-robotics/reachy2_core", "https://github.com/pollen-robotics/reachy2_mujoco", "https://github.com/pollen-robotics/reachy2_mujoco_assets", "https://github.com/pollen-robotics/Reachy2Teleoperation" ], "links": { "site": "https://pollen-robotics.com/", "docs": "https://github.com/pollen-robotics/reachy2-docs" }, "summary": "Wheeled humanoid with two 7-DOF arms, Orbita neck/wrists and an omnidirectional base, aimed at AI and teleoperation research; Pollen was acquired by Hugging Face in April 2025.", "note": "Battery 24V 35Ah LiFePO4 (840 Wh computed); speed 3 km/h. Hugging Face stated intent to open-source hardware; public CAD/BOM not verified.", "sources": [ { "url": "https://robotsguide.com/robots/reachy", "label": "IEEE Robots Guide", "checked": "2026-09-24" }, { "url": "https://www.labellerr.com/blog/hugging-face-buys-pollen-robotics/", "label": "HF acquisition", "checked": "2026-09-24" }, { "url": "https://github.com/pollen-robotics/reachy2-sdk", "label": "SDK repo", "checked": "2026-09-24" } ] }, { "id": "poppy/poppy-humanoid", "url": "https://humanoidrobots.systems/poppy/poppy-humanoid", "name": "Poppy Humanoid", "maker": "Poppy Project (Inria Flowers)", "org": "poppy", "slug": "poppy-humanoid", "class": "humanoid", "humanoid": true, "status": "orphaned", "availability": "kit", "country": "FR", "city": "Bordeaux", "year": null, "specs": { "heightCm": 84, "massKg": 3.5, "dof": 25, "priceNote": "README: a full build costs $8,000-9,000, ~60% of it Dynamixels. Generation Robots kit €7,862.40 incl. VAT without 3D parts, €9,971.52 with them (checked 2026-09-25)", "actuators": "Dynamixel: 19 MX-28AT, 4 MX-64AT, 2 AX-12A", "compute": "Raspberry Pi (current kit version)" }, "license": { "hw": "CC-BY-SA-4.0", "sw": "GPL-3.0" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 90, "opennessTier": "open-hw", "level": 1, "models": { "urdf": "https://github.com/poppy-project/poppy-humanoid/tree/master/hardware/URDF" }, "repos": [ "https://github.com/poppy-project/poppy-humanoid", "https://github.com/poppy-project/poppy-docs", "https://github.com/poppy-project/pypot" ], "links": { "buy": "https://www.generationrobots.com/en/312-poppy-humanoid-robot" }, "summary": "Open-source 3D-printed 25-DOF humanoid (~83-85 cm, 3.5 kg) from Inria Bordeaux's Flowers lab for research, education and art.", "note": "Project born 2012 in Inria Flowers lab (Lapeyre PhD); exact public-unveil year not pinned (paper 2014). Main repo last pushed Dec 2021; poppy-project.org failed DNS on fetch (Sep 2026). Lapeyre later co-founded Pollen Robotics. Height quoted as 83 or 85 cm. Actuator mix (19 MX-28AT, 4 MX-64AT, 2 AX-12A) is from the motor configuration file and the archived 1.0 BOM, which agree; the current guide's per-section counts omit the arms. README puts a full build at $8,000-9,000, about 60% of it for the Dynamixels. URDF is in hardware/URDF.", "sources": [ { "url": "https://github.com/poppy-project/poppy-humanoid/blob/master/software/poppy_humanoid/configuration/poppy_humanoid.json", "label": "Poppy Humanoid motor configuration (motor models)", "checked": "2026-09-25" }, { "url": "https://github.com/poppy-project/poppy-humanoid/tree/master/hardware/URDF", "label": "Poppy Humanoid URDF", "checked": "2026-09-25" }, { "url": "https://www.generationrobots.com/en/312-poppy-humanoid-robot", "label": "Generation Robots: Poppy Humanoid kits (EUR prices)", "checked": "2026-09-25" }, { "url": "https://github.com/poppy-project/poppy-humanoid", "label": "Official repo", "checked": "2026-09-24" }, { "url": "https://flowers.inria.fr/LapeyreetalDI2014.pdf", "label": "Lapeyre et al. 2014 paper", "checked": "2026-09-24" }, { "url": "https://newatlas.com/poppy-3d-printed-humanoid-robot-kit/29497/", "label": "New Atlas", "checked": "2026-09-24" } ] }, { "id": "pudu/d9", "url": "https://humanoidrobots.systems/pudu/d9", "name": "PUDU D9", "maker": "Pudu Robotics", "org": "pudu", "slug": "d9", "class": "humanoid", "humanoid": true, "status": "active", "availability": "not-for-sale", "country": "CN", "city": "Shenzhen", "year": 2024, "specs": { "heightCm": 170, "massKg": 65, "dof": 42, "payloadKg": 20, "speedMps": 2, "batteryWh": 720, "priceNote": "No price on maker page.", "actuators": "Pudu joint modules (352 N·m max torque)", "compute": "275 TOPS onboard", "sensors": "RGB, RGB-D cameras, tactile sensors, IMU", "priceUsd": null }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://www.pudurobotics.com/en/products/d9" }, "summary": "Full-size bipedal humanoid from service-robot maker Pudu, with 7-DOF arms and 11-DOF tactile DH11 hands.", "note": "Payload is 10 kg per arm. The maker page says some features are not yet available to customers, and no buy path was found (availability approximated). Unveil year (Dec 2024) comes from press coverage.", "sources": [ { "url": "https://www.pudurobotics.com/en/products/d9", "label": "PUDU D9 product page", "checked": "2026-09-24" }, { "url": "https://mikekalil.com/blog/pudu-robotics-d9-bipedal-humanoid/", "label": "Mike Kalil on D9", "checked": "2026-09-24" } ] }, { "id": "rainbow/rby1", "url": "https://humanoidrobots.systems/rainbow/rby1", "name": "Rainbow Robotics RB-Y1", "maker": "Rainbow Robotics", "org": "rainbow", "slug": "rby1", "class": "wheeled-humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "KR", "city": "Daejeon", "year": 2024, "specs": { "heightCm": 140, "massKg": 131, "dof": 20, "payloadKg": 3, "speedMps": 1.5, "batteryWh": 1250, "priceNote": "No list price on maker site (contact sales).", "actuators": "Rainbow in-house joint modules", "compute": "Dual-PC (real-time robot PC + user PC with ROS 2)", "sensors": "Built-in wrist force/torque sensors (v1.2); optional camera" }, "license": { "hw": "LicenseRef-Proprietary", "sw": "Apache-2.0" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 30, "opennessTier": "partial", "level": 2, "models": { "urdf": "https://github.com/RainbowRobotics/rby1-sdk", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/rainbow_robotics_rby1", "menagerie": "rainbow_robotics_rby1" }, "repos": [ "https://github.com/RainbowRobotics/rby1-sdk", "https://github.com/RainbowRobotics/rby1-ros2", "https://github.com/RainbowRobotics/rby1-examples-vr-teleop" ], "links": { "site": "https://rainbow-robotics.com/en/products/rb-y1/" }, "summary": "Dual 7-DOF-arm mobile manipulator with a 6-DOF torso/leg on a wheeled base, sold as an AI and teleoperation research platform.", "note": "Config A (listed) is 131 kg / 20 DOF / 1,250 Wh; config M is 170 kg / 26 DOF / 2,500 Wh. Payload is 3 kg per arm. Rainbow Robotics is the HUBO lineage. The Daejeon HQ and 2024 year are not from fetched pages.", "sources": [ { "url": "https://rainbow-robotics.com/en/products/rb-y1/", "label": "Rainbow Robotics RB-Y1 page", "checked": "2026-09-24" }, { "url": "https://github.com/RainbowRobotics/rby1-sdk", "label": "rby1-sdk repo", "checked": "2026-09-24" } ] }, { "id": "roboparty/roboto-origin", "url": "https://humanoidrobots.systems/roboparty/roboto-origin", "name": "ROBOTO_ORIGIN", "maker": "RoboParty (Shanghai RoboParty Technology)", "org": "roboparty", "slug": "roboto-origin", "class": "humanoid", "humanoid": true, "status": "active", "availability": "diy", "country": "CN", "city": "Shanghai", "year": 2025, "specs": { "heightCm": 125, "massKg": 34, "dof": 23, "speedMps": 3, "runtimeMin": 120, "actuators": "120 N·m peak joint torque (maker claim)", "sensors": "Intel D435i depth camera and 3D LiDAR (both optional)" }, "license": { "hw": "CERN-OHL-W-2.0", "sw": "GPL-3.0-only", "docs": "CC-BY-SA-4.0" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": true, "software": true }, "opennessScore": 100, "opennessTier": "open-hw", "level": 1, "models": { "urdf": "https://github.com/Roboparty/roboto_origin/blob/main/modules/rpo_description/urdf/rpo.urdf", "mjcf": "https://github.com/Roboparty/roboto_origin/blob/main/modules/rpo_description/mjcf/rpo.xml" }, "repos": [ "https://github.com/Roboparty/roboto_origin", "https://github.com/Roboparty/rpo_hardware", "https://github.com/Roboparty/rpo_description", "https://github.com/Roboparty/roboparty_train", "https://github.com/Roboparty/roboparty_deploy", "https://github.com/Roboparty/roboparty_inference", "https://github.com/Roboparty/roboparty_firmware" ], "links": { "site": "https://roboparty.com/roboto_origin/doc", "docs": "https://roboparty.com/roboto_origin/doc" }, "summary": "Fully open-source DIY running/jumping humanoid prototype whose structure, electronics, training and deployment code are all published; buildable from Taobao parts and JLC prototyping.", "note": "Company founded Feb 2025; prototype built in ~4 months. Repo created Dec 2025, actively updated. Uses Isaac Lab / ROS 2. roboto_origin is a snapshot aggregation of the module repos. Specs are maker claims from the Original-0310 brochure in rpo_hardware (not in the README): 1.25 m, 34 kg, 23 DOF, 3 m/s, 120 N·m peak joint torque, 48 V 15 Ah battery, >2 h runtime. URDF and MJCF in modules/rpo_description. Licensing is per module (LICENSES.md): hardware (rpo_hardware, rpo_description, rpo_appearance) CERN-OHL-W-2.0; RoboParty software and firmware GPL-3.0-only; rpo_hardware docs CC-BY-SA-4.0; roboparty_train BSD-3-Clause; orangepi-build GPL-2.0. RoboParty names and logos are not licensed. Walking, motion-tracking, get-up and parkour policies ship as ONNX in roboparty_inference / roboparty_deploy.", "sources": [ { "url": "https://github.com/Roboparty/roboto_origin", "label": "Official repo README", "checked": "2026-09-24" }, { "url": "https://github.com/Roboparty/roboto_origin/blob/main/LICENSES.md", "label": "roboto_origin LICENSES.md (per-module license scope)", "checked": "2026-09-25" }, { "url": "https://github.com/Roboparty/roboto_origin/blob/main/modules/rpo_hardware/LICENSES.md", "label": "rpo_hardware LICENSES.md (CERN-OHL-W-2.0 / GPL-3.0-only / CC-BY-SA-4.0)", "checked": "2026-09-25" }, { "url": "https://github.com/Roboparty/roboto_origin/blob/main/modules/rpo_hardware/V2.0/roboto_origin_mechanic/00_Docs/Original-0310.pdf", "label": "ROBOTO Origin brochure (1.25 m, 34 kg, 23 DOF)", "checked": "2026-09-25" }, { "url": "https://github.com/Roboparty/roboparty_inference/tree/main/robots/rpo/models", "label": "roboparty_inference: ONNX policies", "checked": "2026-09-25" } ] }, { "id": "robotis/openmanipulator-x", "url": "https://humanoidrobots.systems/robotis/openmanipulator-x", "name": "OpenMANIPULATOR-X (RM-X52-TNM)", "maker": "ROBOTIS", "org": "robotis", "slug": "openmanipulator-x", "class": "arm", "humanoid": false, "status": "active", "availability": "buy", "country": "KR", "city": "Seoul", "year": null, "specs": { "dof": 5, "massKg": 0.7, "payloadKg": 0.5, "priceNote": "Sold by ROBOTIS and resellers; 12 V PSU sold separately", "actuators": "5x Dynamixel XM430-W350-T" }, "license": { "sw": "Apache-2.0" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 30, "opennessTier": "partial", "level": 1, "models": { "urdf": "https://github.com/ROBOTIS-GIT/open_manipulator/tree/main/open_manipulator_description/urdf/open_manipulator_x" }, "repos": [ "https://github.com/ROBOTIS-GIT/open_manipulator" ], "links": { "site": "https://emanual.robotis.com/docs/en/platform/openmanipulator_x/overview/", "buy": "https://robotis.us/products/openmanipulator-x-rm-x52-tnm", "docs": "https://emanual.robotis.com/docs/en/platform/openmanipulator_x/overview/" }, "summary": "Compact ROS-based 4-DOF arm with a 1-DOF gripper built from Dynamixel XM430 servos, sold as an educational/research manipulator.", "note": "ROBOTIS' newer OMX (OMX-F follower / OMX-L leader) targets LeRobot-style imitation learning and lives in the same repo. CAD/BOM openness not verified, so marked false.", "sources": [ { "url": "https://robotis.us/products/openmanipulator-x-rm-x52-tnm", "label": "ROBOTIS US product page", "checked": "2026-09-24" }, { "url": "https://emanual.robotis.com/docs/en/platform/openmanipulator_x/overview/", "label": "ROBOTIS e-Manual", "checked": "2026-09-24" }, { "url": "https://github.com/ROBOTIS-GIT/open_manipulator", "label": "open_manipulator repo", "checked": "2026-09-24" }, { "url": "https://ai.robotis.com/omx/introduction_omx.html", "label": "ROBOTIS OMX", "checked": "2026-09-24" } ] }, { "id": "robotis/op3", "url": "https://humanoidrobots.systems/robotis/op3", "name": "ROBOTIS OP3", "maker": "ROBOTIS", "org": "robotis", "slug": "op3", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "KR", "city": "Seoul", "year": null, "specs": { "heightCm": 51, "massKg": 3.5, "dof": 20, "batteryWh": 36.6, "actuators": "20x Dynamixel XM430-W350-R", "compute": "Intel NUC i3, 8GB RAM", "sensors": "Logitech C920 camera, 9-axis IMU" }, "license": { "sw": "Apache-2.0" }, "openness": { "cad": false, "bom": false, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 45, "opennessTier": "partial", "level": 2, "models": { "urdf": "https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Common/tree/master/op3_description/urdf", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotis_op3", "menagerie": "robotis_op3" }, "repos": [ "https://github.com/ROBOTIS-GIT/ROBOTIS-OP3", "https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Common" ], "links": { "site": "https://robotis.com/en/", "docs": "https://emanual.robotis.com/docs/en/platform/op3/introduction/" }, "summary": "Small 20-DOF open-platform humanoid (~51 cm, 3.5 kg) built on Dynamixel XM430 servos and an Intel NUC, with open ROS software and URDF.", "note": "Battery 11.1V 3300mAh LiPo (~36.6 Wh computed). e-Manual notes a 2025 ROS 2 re-release. Original release year and CAD availability not verified in fetched sources.", "sources": [ { "url": "https://emanual.robotis.com/docs/en/platform/op3/introduction/", "label": "ROBOTIS e-Manual", "checked": "2026-09-24" }, { "url": "https://github.com/ROBOTIS-GIT/ROBOTIS-OP3", "label": "Official repo", "checked": "2026-09-24" } ] }, { "id": "sawppy/sawppy", "url": "https://humanoidrobots.systems/sawppy/sawppy", "name": "Sawppy the Rover", "maker": "Roger Cheng", "org": "sawppy", "slug": "sawppy", "class": "rover", "humanoid": false, "status": "active", "availability": "diy", "country": "US", "city": "Los Angeles", "year": 2018, "specs": { "priceUsd": 500, "priceNote": "~$500 parts budget", "actuators": "Serial bus servos" }, "license": { "hw": "MIT", "sw": "MIT" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": false, "policies": false, "software": true }, "opennessScore": 70, "opennessTier": "open-hw", "level": 1, "models": null, "repos": [ "https://github.com/Roger-random/Sawppy_Rover", "https://github.com/Roger-random/SGVHAK_Rover" ], "links": { "site": "https://newscrewdriver.com", "docs": "https://github.com/Roger-random/Sawppy_Rover/tree/main/docs", "video": "https://www.youtube.com/watch?v=SEBBMDWgtC4" }, "summary": "Hobbyist motorized model of the Curiosity/Perseverance rovers with rocker-bogie suspension, built from aluminum extrusion, 3D-printed parts and serial bus servos.", "note": "Inspired by JPL OSR. Repo documents 'Sawppy V1'; last pushed Sep 2025. City from maker's GitHub profile. V1 control software is SGVHAK_Rover (MIT, Python 2.7-era). Video: Sawppy climbing demo at Sparklecon VII, on the maker's New Screwdriver channel.", "sources": [ { "url": "https://github.com/Roger-random/SGVHAK_Rover", "label": "SGVHAK_Rover (Sawppy V1 software, MIT)", "checked": "2026-09-25" }, { "url": "https://www.youtube.com/oembed?url=https://www.youtube.com/watch?v=SEBBMDWgtC4", "label": "YouTube oEmbed: 'Sawppy climbing demo at Sparklecon VII' by New Screwdriver", "checked": "2026-09-25" }, { "url": "https://github.com/Roger-random/Sawppy_Rover", "label": "Sawppy repo (MIT)", "checked": "2026-09-24" }, { "url": "https://hackaday.io/project/158208-sawppy-the-rover", "label": "Hackaday.io project", "checked": "2026-09-24" } ] }, { "id": "sanctuary/phoenix", "url": "https://humanoidrobots.systems/sanctuary/phoenix", "name": "Phoenix", "maker": "Sanctuary AI", "org": "sanctuary", "slug": "phoenix", "class": "humanoid", "humanoid": true, "status": "research", "availability": "not-for-sale", "country": "CA", "city": "Vancouver", "year": 2023, "specs": { "heightCm": 170, "massKg": 70, "payloadKg": 25, "speedMps": 1.3, "priceNote": "Never offered for sale.", "actuators": "Hydraulic hands (20 DOF total across both hands)", "compute": "Carbon AI control system", "sensors": "Haptic sensing in hands", "priceUsd": null }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://sanctuary.ai/" }, "summary": "General-purpose humanoid with hydraulic dexterous hands, controlled by Sanctuary's Carbon AI system. In June 2026 Sanctuary refocused on selling its Physical AI software for third-party robots, keeping Phoenix as a research/data platform.", "note": "Specs from the May 2023 launch (5'7\", 155 lb, 55 lb payload, 3 mph). Later generations (7th, 8th) announced. June 2026 pivot to software reported by secondary sources.", "sources": [ { "url": "https://sanctuary.ai/news/sanctuary-ai-unveils-phoenix-a-humanoid-general-purpose-robot-designed-for-work/", "label": "Sanctuary AI - Phoenix unveiling", "checked": "2026-09-24" }, { "url": "https://blog.robozaps.com/b/sanctuary-ai-phoenix-review", "label": "RoboZaps - 2026 status/pivot", "checked": "2026-09-24" } ] }, { "id": "uiuc/lekiwi", "url": "https://humanoidrobots.systems/uiuc/lekiwi", "name": "LeKiwi", "maker": "SIGRobotics UIUC / Hugging Face LeRobot", "org": "uiuc", "slug": "lekiwi", "class": "rover", "humanoid": false, "status": "active", "availability": "diy", "country": "US", "city": "Urbana", "year": null, "specs": { "compute": "Raspberry Pi 5", "sensors": "Workspace and wrist RGB cameras", "priceNote": "Upstream BOM totals, excluding printing: 5 V $499, 12 V $482, base-only wired $184" }, "license": { "hw": "Apache-2.0", "sw": "Apache-2.0" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 90, "opennessTier": "open-hw", "level": 1, "models": { "urdf": "https://github.com/SIGRobotics-UIUC/LeKiwi/blob/main/URDF/LeKiwi.urdf" }, "repos": [ "https://github.com/SIGRobotics-UIUC/LeKiwi", "https://github.com/huggingface/lerobot" ], "links": { "site": "https://github.com/SIGRobotics-UIUC/LeKiwi", "buy": "https://www.seeedstudio.com/LeKiwi-Full-Kit-12V-Verision.html", "docs": "https://huggingface.co/docs/lerobot/lekiwi" }, "summary": "Low-cost mobile manipulator combining a three-omni-wheel holonomic base with an SO-101 arm, a Raspberry Pi 5 and two RGB cameras, supported in LeRobot.", "note": "Mobile manipulator (wheeled base + arm), classed as rover. Fusion 360 CAD public. Dynamixel variant uses Koch v1.1 arm. City = UIUC campus. Three upstream variants: 5 V (power bank), 12 V and wired. Seeed Studio sells a 12 V full kit, listed in the repo BOM.", "sources": [ { "url": "https://github.com/SIGRobotics-UIUC/LeKiwi/blob/main/BOM.md", "label": "LeKiwi BOM (variant totals, Seeed kit link)", "checked": "2026-09-25" }, { "url": "https://www.seeedstudio.com/LeKiwi-Full-Kit-12V-Verision.html", "label": "Seeed Studio LeKiwi full kit (12 V)", "checked": "2026-09-25" }, { "url": "https://github.com/SIGRobotics-UIUC/LeKiwi", "label": "LeKiwi repo", "checked": "2026-09-24" }, { "url": "https://huggingface.co/docs/lerobot/lekiwi", "label": "LeRobot LeKiwi docs", "checked": "2026-09-24" } ] }, { "id": "sourcerobotics/parol6", "url": "https://humanoidrobots.systems/sourcerobotics/parol6", "name": "PAROL6", "maker": "Source Robotics", "org": "sourcerobotics", "slug": "parol6", "class": "arm", "humanoid": false, "status": "active", "availability": "kit", "country": "HR", "city": "Zagreb", "year": null, "specs": { "dof": 6, "massKg": 5.5, "priceNote": "Sold as full kit (no printed parts/PSU), partial kit, or assembled; reach 400 mm" }, "license": { "hw": "GPL-3.0", "sw": "GPL-3.0" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 90, "opennessTier": "open-hw", "level": 1, "models": { "urdf": "https://github.com/Source-Robotics/PAROL6-Desktop-robot-arm/blob/main/PAROL6_URDF/PAROL6/urdf/PAROL6.urdf" }, "repos": [ "https://github.com/Source-Robotics/PAROL6-Desktop-robot-arm", "https://github.com/Source-Robotics/PAROL-commander-software" ], "links": { "site": "https://source-robotics.com/", "buy": "https://source-robotics.com/products/parol6-robotic-arm-kit", "docs": "https://source-robotics.github.io/PAROL-docs/" }, "summary": "3D-printed 6-axis desktop robot arm with industrial-style mechanics, with open-source STL files, BOM, control software and GUI.", "note": "Repo moved from PCrnjak (Petar Crnjak) to the Source-Robotics org. Maker reports >250 units in use worldwide. URDF (ROS package with Gazebo launch) is in PAROL6_URDF/. STL files, BOM, firmware and PAROL Commander are GPL-3.0; per the assembly manual the STEP files and the PAROL6 control board are not open source, and the board is only sold by Source Robotics. No trained policies or datasets found on Hugging Face (2026-09-25).", "sources": [ { "url": "https://source-robotics.github.io/PAROL-docs/", "label": "PAROL docs", "checked": "2026-09-25" }, { "url": "https://github.com/Source-Robotics/PAROL6-Desktop-robot-arm/blob/main/Building%20instructions/Parol%20building%20instructions.pdf", "label": "PAROL6 assembly manual v1.2 (STEP files and control board not open source)", "checked": "2026-09-25" }, { "url": "https://github.com/Source-Robotics/PAROL-commander-software", "label": "PAROL Commander software (GPL-3.0)", "checked": "2026-09-25" }, { "url": "https://source-robotics.com/policies/contact-information", "label": "Source Robotics contact info (Zagreb address)", "checked": "2026-09-24" }, { "url": "https://github.com/Source-Robotics/PAROL6-Desktop-robot-arm", "label": "GitHub repo (GPL-3.0)", "checked": "2026-09-24" }, { "url": "https://source-robotics.com/", "label": "Source Robotics site", "checked": "2026-09-24" }, { "url": "https://hackaday.io/project/191860-parol6-desktop-robotic-arm", "label": "Hackaday.io project", "checked": "2026-09-24" } ] }, { "id": "stanford/aloha", "url": "https://humanoidrobots.systems/stanford/aloha", "name": "ALOHA", "maker": "Stanford (Tony Zhao et al.)", "org": "stanford", "slug": "aloha", "class": "arm", "humanoid": false, "status": "research", "availability": "diy", "country": "US", "city": "Stanford", "year": 2023, "specs": { "sensors": "4 cameras" }, "license": { "sw": "MIT" }, "openness": { "cad": true, "bom": true, "firmware": false, "sim": true, "policies": true, "software": true }, "opennessScore": 85, "opennessTier": "open-hw", "level": 2, "models": { "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/aloha", "menagerie": "aloha" }, "repos": [ "https://github.com/tonyzhaozh/aloha", "https://github.com/tonyzhaozh/act" ], "links": { "site": "https://tonyzhaozh.github.io/aloha/", "buy": "https://www.trossenrobotics.com/aloha-kits", "docs": "https://github.com/tonyzhaozh/aloha" }, "summary": "Low-cost open-source bimanual teleoperation system with two leader and two follower arms plus four cameras, used to collect data for ACT imitation learning.", "note": "Original repo last pushed Apr 2024; follow-ons (ALOHA 2, commercial kits) exist. Hardware assembly guide is a Google Doc. MIT covers the aloha and act code only; the hardware (Trossen arms) is sold under Trossen's terms and the printed parts have no stated license, so hw is left undeclared.", "sources": [ { "url": "https://github.com/tonyzhaozh/aloha", "label": "ALOHA repo (MIT)", "checked": "2026-09-24" }, { "url": "https://tonyzhaozh.github.io/aloha/", "label": "Project site", "checked": "2026-09-24" }, { "url": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/aloha", "label": "MuJoCo Menagerie aloha", "checked": "2026-09-24" }, { "url": "https://www.trossenrobotics.com/aloha-kits", "label": "Trossen Robotics ALOHA kits", "checked": "2026-09-25" }, { "url": "https://www.trossenrobotics.com/viperx-300", "label": "Trossen ViperX 300 page (marked discontinued)", "checked": "2026-09-25" }, { "url": "https://huggingface.co/lerobot/act_aloha_sim_transfer_cube_human", "label": "LeRobot ACT ALOHA checkpoint (trained in sim)", "checked": "2026-09-25" } ] }, { "id": "stanford/umi-gripper", "url": "https://humanoidrobots.systems/stanford/umi-gripper", "name": "UMI Gripper (Universal Manipulation Interface)", "maker": "Stanford / Columbia / Toyota Research Institute", "org": "stanford", "slug": "umi-gripper", "class": "gripper", "humanoid": false, "status": "research", "availability": "diy", "country": "US", "city": "Stanford", "year": 2024, "specs": { "sensors": "GoPro camera with side mirrors" }, "license": { "sw": "MIT" }, "openness": { "cad": true, "bom": true, "firmware": false, "sim": true, "policies": true, "software": true }, "opennessScore": 85, "opennessTier": "open-hw", "level": 2, "models": { "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/umi_gripper", "menagerie": "umi_gripper" }, "repos": [ "https://github.com/real-stanford/universal_manipulation_interface" ], "links": { "site": "https://umi-gripper.github.io/", "docs": "https://docs.google.com/document/d/1TPYwV9sNVPAi0ZlAupDMkXZ4CA1hsZx7YDMSmcEy6EU/edit?usp=sharing" }, "summary": "Handheld, trigger-activated 3D-printed parallel-jaw gripper with a GoPro and side mirrors for in-the-wild demonstration collection, with policies deployable on robot-mounted grippers.", "note": "Presented at RSS 2024. Repo provides a pretrained checkpoint (cup arrangement). A simplified MJCF is in MuJoCo Menagerie (umi_gripper). The build guide (BOM, CAD, print settings, deployment) is the UMI Hardware Guide Google Doc; assembly is shown in video only. Code is MIT; the gripper mechanism and soft finger are adapted from third-party designs whose licenses are not stated.", "sources": [ { "url": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/umi_gripper", "label": "MuJoCo Menagerie umi_gripper", "checked": "2026-09-24" }, { "url": "https://umi-gripper.github.io/", "label": "UMI project page", "checked": "2026-09-24" }, { "url": "https://arxiv.org/abs/2402.10329", "label": "arXiv paper", "checked": "2026-09-24" }, { "url": "https://github.com/real-stanford/universal_manipulation_interface", "label": "Code repo (MIT)", "checked": "2026-09-24" }, { "url": "https://docs.google.com/document/d/1TPYwV9sNVPAi0ZlAupDMkXZ4CA1hsZx7YDMSmcEy6EU/edit?usp=sharing", "label": "UMI Hardware Guide (BOM, CAD, print settings, deployment)", "checked": "2026-09-25" }, { "url": "https://real.stanford.edu/umi/data/pretrained_models/", "label": "UMI pretrained checkpoints", "checked": "2026-09-25" } ] }, { "id": "stanford/pupper", "url": "https://humanoidrobots.systems/stanford/pupper", "name": "Stanford Pupper (v1)", "maker": "Stanford Student Robotics", "org": "stanford", "slug": "pupper", "class": "quadruped", "humanoid": false, "status": "discontinued", "availability": "diy", "country": "US", "city": "Stanford", "year": 2020, "specs": { "dof": 12, "compute": "Raspberry Pi" }, "license": { "sw": "MIT" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": false, "policies": false, "software": true }, "opennessScore": 70, "opennessTier": "open-hw", "level": 1, "models": null, "repos": [ "https://github.com/stanfordroboticsclub/StanfordQuadruped", "https://github.com/stanfordroboticsclub/Pupper", "https://github.com/stanfordroboticsclub/Pupper-Raspi-PDB" ], "links": { "docs": "https://pupper.readthedocs.io/en/latest/" }, "summary": "Low-cost, servo-driven 12-DOF quadruped designed for robotics education and benchmarking, running on a Raspberry Pi.", "note": "Repo carries an end-of-life notice; support moved to Pupper v3. The docs source repo (Pupper) and the PDB repo (Pupper-Raspi-PDB: KiCad, Gerbers) have no license file and were last pushed 2021 and 2020; the CAD is a public Fusion 360 share with no stated license. Software (StanfordQuadruped) is MIT.", "sources": [ { "url": "https://github.com/stanfordroboticsclub/StanfordQuadruped", "label": "StanfordQuadruped repo (EOL notice)", "checked": "2026-09-24" }, { "url": "https://arxiv.org/abs/2110.00736", "label": "arXiv: Stanford Pupper paper", "checked": "2026-09-24" }, { "url": "https://pupper.readthedocs.io/en/latest/", "label": "Pupper 2020 documentation", "checked": "2026-09-24" }, { "url": "https://pupper.readthedocs.io/en/latest/guide/purchasing.html", "label": "Pupper docs: part sourcing (kit vendors, PDB fab)", "checked": "2026-09-25" }, { "url": "https://github.com/stanfordroboticsclub/Pupper-Raspi-PDB", "label": "Pupper-Raspi-PDB (KiCad, Gerbers)", "checked": "2026-09-25" } ] }, { "id": "stanford/pupper-v3", "url": "https://humanoidrobots.systems/stanford/pupper-v3", "name": "Pupper v3", "maker": "Stanford Student Robotics / Hands-On Robotics", "org": "stanford", "slug": "pupper-v3", "class": "quadruped", "humanoid": false, "status": "active", "availability": "diy", "country": "US", "city": "Stanford", "year": 2024, "specs": { "dof": 12, "massKg": 3, "priceNote": "Roughly $1000 BOM per project README; ~$2000 to build per Stanford page", "actuators": "GIM4305 400 W brushless motors", "compute": "Raspberry Pi 5", "sensors": "Luxonis SR depth camera" }, "license": { "sw": "AGPL-3.0 AND GPL-3.0 AND MIT" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": true, "software": true }, "opennessScore": 100, "opennessTier": "open-hw", "level": 1, "models": { "urdf": "https://github.com/G-Levine/pupper_v3_description" }, "repos": [ "https://github.com/HandsOnRobotics/pupper-v3-documentation", "https://github.com/G-Levine/pupper_v3_description", "https://github.com/Nate711/pupperv3-monorepo", "https://github.com/Nate711/pupperv3-mjx" ], "links": { "buy": "https://aifitlab.com/collections/pupper-v3", "docs": "https://pupper-v3-documentation.readthedocs.io/en/latest/" }, "summary": "Open-source educational quadruped developed through Stanford courses, with brushless motors, a Raspberry Pi 5 and a reinforcement-learning locomotion policy out of the box.", "note": "Ships with an RL locomotion policy. Third-party vendors (e.g. AIFITLAB) sell kits. Year = docs '2024' edition. Licenses (GitHub license API, 2026-09-25): pupper-v3-documentation AGPL-3.0, pupperv3-monorepo and pupperv3-mjx GPL-3.0, pupper_v3_description MIT. CAD is a public Onshape/Fusion share with no stated license. Mass 3 kg per the docs tech specs page.", "sources": [ { "url": "https://pupper-v3-documentation.readthedocs.io/en/latest/learn_more/tech_specs.html", "label": "Pupper v3 docs: technical specifications (3 kg)", "checked": "2026-09-25" }, { "url": "https://github.com/Nate711/pupperv3-monorepo", "label": "pupperv3-monorepo (ROS 2 stack, policies; GPL-3.0)", "checked": "2026-09-25" }, { "url": "https://github.com/Nate711/pupperv3-mjx", "label": "pupperv3-mjx (MJX training; GPL-3.0)", "checked": "2026-09-25" }, { "url": "https://pupper-v3-documentation.readthedocs.io/en/latest/development/modifying_code.html", "label": "Pupper v3 docs: modifying code, training a policy", "checked": "2026-09-25" }, { "url": "https://pupper-v3-documentation.readthedocs.io/en/latest/", "label": "Pupper v3 documentation", "checked": "2026-09-24" }, { "url": "https://github.com/stanfordroboticsclub/StanfordQuadruped", "label": "README: Pupper v3 quick specs", "checked": "2026-09-24" } ] }, { "id": "stanford/toddlerbot", "url": "https://humanoidrobots.systems/stanford/toddlerbot", "name": "ToddlerBot", "maker": "Stanford University", "org": "stanford", "slug": "toddlerbot", "class": "humanoid", "humanoid": true, "status": "research", "availability": "diy", "country": "US", "city": "Stanford", "year": 2025, "specs": { "heightCm": 56, "massKg": 3.4, "dof": 30, "payloadKg": 1.48, "priceNote": "Build cost under $6,000 (paper); not sold", "actuators": "servo actuators; 7 DOF/arm, 6 DOF/leg, 2 neck, 2 waist", "compute": "NVIDIA Jetson Orin NX 16GB" }, "license": { "hw": "CC-BY-NC-SA-4.0", "sw": "MIT" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": true, "software": true }, "opennessScore": 100, "opennessTier": "open-hw", "level": 2, "models": { "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/toddlerbot_2xc", "menagerie": "toddlerbot_2xc" }, "repos": [ "https://github.com/hshi74/toddlerbot" ], "links": { "site": "https://toddlerbot.github.io/", "docs": "https://hshi74.github.io/toddlerbot", "video": "https://www.youtube.com/watch?v=A43QxHSgLyM" }, "summary": "Low-cost, fully 3D-printed open-source small humanoid (0.56 m, 3.4 kg, 30 DOF) for scalable policy learning research.", "note": "ToddlerBot 2.0 released Aug 2025; variants 2XC and 2XM both in Menagerie (toddlerbot_2xm). Onshape CAD + MakerWorld print files + BOM sheet public. Locomotion Beyond Feet follow-up Jan 2026. Mirror fork exists at kscalelabs/toddlerbot. Licenses per README: code and docs MIT; hardware design (Onshape, STL/3MF) CC BY-NC-SA 4.0, non-commercial.", "sources": [ { "url": "https://github.com/hshi74/toddlerbot", "label": "Official repo (README license section: code MIT, design CC BY-NC-SA 4.0)", "checked": "2026-09-25" }, { "url": "https://arxiv.org/abs/2502.00893", "label": "arXiv paper", "checked": "2026-09-24" }, { "url": "https://toddlerbot.github.io/", "label": "Project site", "checked": "2026-09-24" } ] }, { "id": "tesla/optimus", "url": "https://humanoidrobots.systems/tesla/optimus", "name": "Optimus", "maker": "Tesla", "org": "tesla", "slug": "optimus", "class": "humanoid", "humanoid": true, "status": "announced", "availability": "not-for-sale", "country": "US", "city": "Austin", "year": 2022, "specs": { "priceNote": "No official price or preorder.", "priceUsd": null }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://www.tesla.com/AI" }, "summary": "Tesla's general-purpose humanoid program (prototype 2022, Gen 2 2023). Optimus V3 production at Fremont was announced for summer 2026, but as of September 2026 V3 had not been publicly revealed.", "note": "'announced' reflects V3; Gen 2 units are used internally, not sold. Fremont Model S/X line converted for Optimus; second Optimus factory at Giga Texas planned ~2027. Musk: 2026 output 'quite slow'. No official V3 spec sheet.", "sources": [ { "url": "https://en.wikipedia.org/wiki/Optimus_(robot)", "label": "Wikipedia - Optimus", "checked": "2026-09-24" }, { "url": "https://electrek.co/2026/04/22/tesla-optimus-production-fremont-model-sx-line/", "label": "Electrek Apr 2026 - V3 reveal delayed", "checked": "2026-09-24" }, { "url": "https://www.sec.gov/Archives/edgar/data/1318605/000162828026049270/tsla-20260630.htm", "label": "Tesla 10-Q Q2 2026", "checked": "2026-09-24" } ] }, { "id": "therobotstudio/so-100", "url": "https://humanoidrobots.systems/therobotstudio/so-100", "name": "SO-100 (SO-ARM100)", "maker": "The Robot Studio / Hugging Face", "org": "therobotstudio", "slug": "so-100", "class": "arm", "humanoid": false, "status": "discontinued", "availability": "diy", "country": "FR", "city": null, "year": null, "specs": { "dof": 6, "actuators": "Feetech STS3215 serial bus servos" }, "license": { "hw": "Apache-2.0", "sw": "Apache-2.0" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": true, "software": true }, "opennessScore": 100, "opennessTier": "open-hw", "level": 2, "models": { "urdf": "https://github.com/TheRobotStudio/SO-ARM100/tree/main/Simulation/SO100", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/trs_so_arm100", "menagerie": "trs_so_arm100" }, "repos": [ "https://github.com/TheRobotStudio/SO-ARM100", "https://github.com/huggingface/lerobot" ], "links": { "site": "https://github.com/TheRobotStudio/SO-ARM100", "docs": "https://huggingface.co/docs/lerobot/so100" }, "summary": "Original Standard Open Arm 100: a 3D-printable 6-DOF low-cost arm that served as the first reference hardware for LeRobot; superseded by the SO-101.", "note": "'discontinued' = superseded by SO-101 in the same repo (SO100.md kept); files remain available for DIY.", "sources": [ { "url": "https://github.com/TheRobotStudio/SO-ARM100", "label": "GitHub repo", "checked": "2026-09-24" }, { "url": "https://www.hackster.io/news/hugging-face-launches-the-so-101-an-upgraded-low-cost-3d-printable-autonomous-robot-arm-532360f441eb", "label": "Hackster: SO-101 as next-gen of SO-100", "checked": "2026-09-24" }, { "url": "https://huggingface.co/docs/lerobot/so100", "label": "LeRobot SO-100 docs", "checked": "2026-09-25" } ] }, { "id": "therobotstudio/so-101", "url": "https://humanoidrobots.systems/therobotstudio/so-101", "name": "SO-101 (SO-ARM101)", "maker": "The Robot Studio / Hugging Face", "org": "therobotstudio", "slug": "so-101", "class": "arm", "humanoid": false, "status": "active", "availability": "kit", "country": "FR", "city": null, "year": 2025, "specs": { "dof": 6, "priceUsd": 220, "priceNote": "Seeed motor kit $220 (Standard) / $240 (Pro) for a leader+follower pair; printed parts ~$35 extra; DIY from ~$130", "actuators": "Feetech STS3215 serial bus servos (7.4 V or 12 V follower options)" }, "license": { "hw": "Apache-2.0", "sw": "Apache-2.0" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": true, "software": true }, "opennessScore": 100, "opennessTier": "open-hw", "level": 2, "models": { "urdf": "https://github.com/TheRobotStudio/SO-ARM100/tree/main/Simulation/SO101", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotstudio_so101", "menagerie": "robotstudio_so101" }, "repos": [ "https://github.com/TheRobotStudio/SO-ARM100", "https://github.com/huggingface/lerobot" ], "links": { "site": "https://github.com/TheRobotStudio/SO-ARM100", "buy": "https://www.seeedstudio.com/SO-101-Low-Cost-AI-Arm-Kit-Pro-p-6427.html", "docs": "https://huggingface.co/docs/lerobot/so101" }, "summary": "Low-cost 3D-printable 6-DOF leader/follower arm pair built for Hugging Face's LeRobot framework; successor to the SO-100 with improved wiring and easier assembly.", "note": "Reference arm of the LeRobot ecosystem; many community-trained policies for it are on the Hugging Face Hub. Repo very active (pushed Sep 2026). Maker city not public on GitHub (country FR only).", "sources": [ { "url": "https://github.com/TheRobotStudio/SO-ARM100", "label": "GitHub repo (Apache-2.0, BOM)", "checked": "2026-09-24" }, { "url": "https://www.hackster.io/news/hugging-face-launches-the-so-101-an-upgraded-low-cost-3d-printable-autonomous-robot-arm-532360f441eb", "label": "Hackster: SO-101 launch", "checked": "2026-09-24" }, { "url": "https://www.cnx-software.com/2025/05/02/so-arm101-open-source-dual-robotic-arm-kit-works-with-hugging-faces-lerobot/", "label": "CNX Software: SO-ARM101 kit pricing", "checked": "2026-09-24" }, { "url": "https://huggingface.co/docs/lerobot/so101", "label": "LeRobot SO-101 docs", "checked": "2026-09-25" } ] }, { "id": "huggingface/hopejr", "url": "https://humanoidrobots.systems/huggingface/hopejr", "name": "HopeJR", "maker": "The Robot Studio & Hugging Face", "org": "huggingface", "slug": "hopejr", "class": "humanoid", "humanoid": true, "status": "active", "availability": "diy", "country": "FR", "city": null, "year": 2025, "specs": { "dof": 66, "priceUsd": 3000, "priceNote": "~$3,000 target (May 2025); first units planned for end of 2025, delivery not verified", "actuators": "Robstride 02 (humanoid body update)" }, "license": null, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": false, "software": true }, "opennessScore": 90, "opennessTier": "open-hw", "level": 1, "models": { "urdf": "https://github.com/TheRobotStudio/HOPEJr/tree/main/Humanoid/URDF/Right_Leg" }, "repos": [ "https://github.com/TheRobotStudio/HOPEJr", "https://github.com/huggingface/lerobot" ], "links": { "site": "https://github.com/TheRobotStudio/HOPEJr", "docs": "https://huggingface.co/docs/lerobot/hope_jr" }, "summary": "Open-source DIY full-size humanoid with dexterous hands and exoskeleton teleoperation, targeting ~$3,000, with LeRobot integration.", "note": "Repo has no LICENSE detected by GitHub (license API returns none, 2026-09-25); Humanoid/LICENSE is Apache-2.0 text with an 'all rights reserved' header and covers only Humanoid/, so no license is declared here. Arm/hand + exoskeleton (Arm/ dir, LeRobot) is the most developed part. sim=true rests on the right-leg + pelvis URDF only. Commercial shipping status in 2026 unconfirmed. HQ left null (joint project). Repo last pushed May 2026.", "sources": [ { "url": "https://techcrunch.com/2025/05/29/hugging-face-unveils-two-new-humanoid-robots/", "label": "TechCrunch", "checked": "2026-09-24" }, { "url": "https://github.com/TheRobotStudio/HOPEJr", "label": "Official repo", "checked": "2026-09-24" }, { "url": "https://github.com/TheRobotStudio/HOPEJr/tree/main/Humanoid/URDF/Right_Leg", "label": "HOPEJr Humanoid/URDF/Right_Leg (only URDF)", "checked": "2026-09-25" }, { "url": "https://huggingface.co/docs/lerobot/hope_jr", "label": "LeRobot HopeJR docs (arm, hand, exoskeleton, glove)", "checked": "2026-09-25" } ] }, { "id": "ubtech/walker-s", "url": "https://humanoidrobots.systems/ubtech/walker-s", "name": "UBTech Walker S (S1 / S2)", "maker": "UBTech Robotics", "org": "ubtech", "slug": "walker-s", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Shenzhen", "year": 2023, "specs": { "payloadKg": 15, "priceNote": "No list price. Orders for Walker S2 reportedly exceeded 800M yuan (~US$112M).", "actuators": "Servo joints with force feedback", "compute": "BrainNet 2.0 + Co-Agent (UBTech software)", "sensors": "RGB binocular stereo vision (S2)" }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://www.ubtrobot.com/en/humanoid/products/walker-s2" }, "summary": "Industrial humanoid line for factory work; the Walker S2 (July 2025) autonomously swaps its own battery in about 3 minutes.", "note": "The original Walker S (2023, about 1.7 m, 41 servo joints) was deployed at a Nio factory in Feb 2024. Walker S2 was unveiled July 17, 2025 and is the mass-production model, with deliveries reported from Nov 2025. Third-party sites claim 176 cm / 70+ kg / 52 DOF for S2, but the maker page does not confirm those figures. UBTech is HKEX-listed (9880).", "sources": [ { "url": "https://www.ubtrobot.com/en/humanoid/products/walker-s2", "label": "UBTech Walker S2 page", "checked": "2026-09-24" }, { "url": "https://cnevpost.com/2025/07/17/ubtech-humanoid-robot-autonomous-battery-swap/", "label": "CnEVPost Walker S2 battery swap", "checked": "2026-09-24" }, { "url": "https://www.ubtrobot.com/en/humanoid/products/walker-s", "label": "UBTech Walker S page", "checked": "2026-09-24" } ] }, { "id": "berkeley/humanoid", "url": "https://humanoidrobots.systems/berkeley/humanoid", "name": "Berkeley Humanoid", "maker": "UC Berkeley Hybrid Robotics Lab", "org": "berkeley", "slug": "humanoid", "class": "biped", "humanoid": true, "status": "research", "availability": "research-only", "country": "US", "city": "Berkeley", "year": 2024, "specs": { "heightCm": 85, "massKg": 16, "dof": 12, "priceNote": "~$10,000 build cost without arms (paper); not sold", "actuators": "custom 5013/8513/8518/10413 motors, 9:1 planetary, EtherCAT", "compute": "Intel i7-1255U onboard PC", "sensors": "IMU, joint encoders", "priceUsd": null }, "license": { "sw": "BSD-3-Clause" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 30, "opennessTier": "partial", "level": 2, "models": { "urdf": "https://github.com/HybridRobotics/berkeley_humanoid_description", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/berkeley_humanoid", "menagerie": "berkeley_humanoid" }, "repos": [ "https://github.com/HybridRobotics/isaac_berkeley_humanoid", "https://github.com/HybridRobotics/berkeley_humanoid_description" ], "links": { "site": "https://berkeley-humanoid.com/" }, "summary": "Low-cost mid-scale research biped for learning-based control, 0.85 m and 16 kg with 12 leg DOF driven by in-house actuators.", "note": "Batteries: two DJI TB50. 4-DOF arms designed but not built in the paper. Open hardware successor is Berkeley Humanoid Lite. isaac_berkeley_humanoid's LICENCE is BSD-3-Clause (GitHub reports NOASSERTION); berkeley_humanoid_description has no license file.", "sources": [ { "url": "https://arxiv.org/abs/2407.21781", "label": "arXiv paper", "checked": "2026-09-24" }, { "url": "https://berkeley-humanoid.com/", "label": "Project site", "checked": "2026-09-24" }, { "url": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/berkeley_humanoid", "label": "MuJoCo Menagerie", "checked": "2026-09-24" } ] }, { "id": "berkeley/humanoid-lite", "url": "https://humanoidrobots.systems/berkeley/humanoid-lite", "name": "Berkeley Humanoid Lite", "maker": "UC Berkeley Hybrid Robotics Lab", "org": "berkeley", "slug": "humanoid-lite", "class": "humanoid", "humanoid": true, "status": "research", "availability": "diy", "country": "US", "city": "Berkeley", "year": 2025, "specs": { "heightCm": 80, "massKg": 16, "dof": 22, "priceNote": "Build cost under $5,000 (self-build; not sold)", "actuators": "BLDC motors with 3D-printed cycloidal gearboxes" }, "license": { "hw": "CC-BY-SA-4.0", "sw": "MIT" }, "openness": { "cad": true, "bom": true, "firmware": true, "sim": true, "policies": true, "software": true }, "opennessScore": 100, "opennessTier": "open-hw", "level": 2, "models": { "urdf": "https://github.com/HybridRobotics/berkeley-humanoid-lite-assets", "mjcf": "https://github.com/HybridRobotics/berkeley-humanoid-lite-assets/blob/main/data/robots/berkeley_humanoid/berkeley_humanoid_lite/mjcf/berkeley_humanoid_lite.xml" }, "repos": [ "https://github.com/HybridRobotics/berkeley-humanoid-lite", "https://github.com/HybridRobotics/berkeley-humanoid-lite-assets" ], "links": { "site": "https://lite.berkeley-humanoid.org/", "docs": "https://berkeley-humanoid-lite.gitbook.io/docs", "video": "https://www.youtube.com/watch?v=dIdJGkMDFl4" }, "summary": "Open-source sub-$5,000 humanoid built from desktop-3D-printed cycloidal gearboxes and off-the-shelf parts; 0.8 m, 16 kg, 22 DOF.", "note": "6 DOF per leg, 5 DOF per arm. Paper arXiv:2504.17249. L2 on the same basis as other maker-published MJCF + policy packages: MJCF in berkeley-humanoid-lite-assets, ONNX policies in the main repo's checkpoints/.", "sources": [ { "url": "https://github.com/HybridRobotics/berkeley-humanoid-lite", "label": "Official repo", "checked": "2026-09-24" }, { "url": "https://arxiv.org/abs/2504.17249", "label": "arXiv paper", "checked": "2026-09-24" }, { "url": "https://3dprintingindustry.com/news/uc-berkeley-unveils-5000-customizable-humanoid-robot-for-open-source-collaboration-239369/", "label": "3D Printing Industry", "checked": "2026-09-24" } ] }, { "id": "unitree/g1", "url": "https://humanoidrobots.systems/unitree/g1", "name": "Unitree G1", "maker": "Unitree Robotics", "org": "unitree", "slug": "g1", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Hangzhou", "year": 2024, "specs": { "heightCm": 132, "massKg": 35, "dof": 23, "payloadKg": 2, "runtimeMin": 120, "priceUsd": 13500, "priceNote": "Base G1 US$13.5K excl. tax and shipping per unitree.com; G1 EDU (up to 43 DOF, Orin) is contact-sales.", "actuators": "Unitree in-house electric joint motors", "compute": "8-core CPU; optional Jetson Orin module (EDU)", "sensors": "Depth camera, 3D LiDAR, 4-mic array" }, "license": { "hw": "LicenseRef-Proprietary", "sw": "BSD-3-Clause" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": true, "software": true }, "opennessScore": 40, "opennessTier": "partial", "level": 2, "models": { "urdf": "https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_g1", "menagerie": "unitree_g1" }, "repos": [ "https://github.com/unitreerobotics/unitree_ros", "https://github.com/unitreerobotics/unitree_sdk2", "https://github.com/unitreerobotics/unitree_rl_gym", "https://github.com/unitreerobotics/unitree_mujoco", "https://github.com/unitreerobotics/xr_teleoperate" ], "links": { "site": "https://www.unitree.com/g1", "buy": "https://www.unitree.com/g1", "docs": "https://support.unitree.com" }, "summary": "Compact 1.32 m humanoid with 23-43 DOF depending on configuration, widely used as a research platform.", "note": "Arm load is about 2-3 kg depending on posture. Optional Dex3-1 force-controlled hand.", "sources": [ { "url": "https://www.unitree.com/g1", "label": "Unitree G1 product page", "checked": "2026-09-24" }, { "url": "https://github.com/unitreerobotics/unitree_rl_gym", "label": "unitree_rl_gym", "checked": "2026-09-24" } ] }, { "id": "unitree/go2", "url": "https://humanoidrobots.systems/unitree/go2", "name": "Unitree Go2", "maker": "Unitree Robotics", "org": "unitree", "slug": "go2", "class": "quadruped", "humanoid": false, "status": "active", "availability": "buy", "country": "CN", "city": "Hangzhou", "year": null, "specs": { "dof": 12, "massKg": 16, "speedMps": 3.7, "runtimeMin": 60, "priceUsd": 1600, "priceNote": "Air $1,600; Pro $2,800; X $4,500; EDU ~$11.2k-$15.6k. Specs for Go2 Pro." }, "license": { "hw": "LicenseRef-Proprietary", "sw": "BSD-3-Clause" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 30, "opennessTier": "partial", "level": 2, "models": { "urdf": "https://github.com/unitreerobotics/unitree_ros/tree/master/robots/go2_description", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_go2", "menagerie": "unitree_go2" }, "repos": [ "https://github.com/unitreerobotics/unitree_ros" ], "links": { "site": "https://www.unitree.com/go2", "buy": "https://shop.unitree.com/products/unitree-go2" }, "summary": "Commercial consumer/research quadruped sold in Air, Pro, X and EDU variants; closed hardware with a published URDF and MuJoCo model.", "note": "Runtime 1-2 h on the 8,000 mAh standard battery; EDU 15,000 mAh ~2-4 h. Included as a closed reference point.", "sources": [ { "url": "https://newatlas.com/robotics/review-unitree-go2-pro-quadruped-robot/", "label": "New Atlas: Go2 Pro review", "checked": "2026-09-24" }, { "url": "https://shop.unitree.com/products/unitree-go2", "label": "Unitree shop", "checked": "2026-09-24" }, { "url": "https://blog.robozaps.com/b/unitree-go2-review", "label": "RoboZaps: Go2 pricing 2026", "checked": "2026-09-24" } ] }, { "id": "unitree/h1", "url": "https://humanoidrobots.systems/unitree/h1", "name": "Unitree H1", "maker": "Unitree Robotics", "org": "unitree", "slug": "h1", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Hangzhou", "year": 2023, "specs": { "heightCm": 180, "massKg": 47, "dof": 23, "speedMps": 3.3, "batteryWh": 864, "priceNote": "No price listed on unitree.com (contact sales).", "actuators": "Unitree in-house electric joint motors", "compute": "Intel Core i5 standard; i7 or Jetson Orin NX optional", "sensors": "3D LiDAR, depth camera" }, "license": { "hw": "LicenseRef-Proprietary", "sw": "BSD-3-Clause" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": true, "software": true }, "opennessScore": 40, "opennessTier": "partial", "level": 2, "models": { "urdf": "https://github.com/unitreerobotics/unitree_ros/tree/master/robots/h1_description", "mjcf": "https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1", "menagerie": "unitree_h1" }, "repos": [ "https://github.com/unitreerobotics/unitree_ros", "https://github.com/unitreerobotics/unitree_sdk2", "https://github.com/unitreerobotics/unitree_rl_gym", "https://github.com/unitreerobotics/unitree_mujoco" ], "links": { "site": "https://www.unitree.com/h1", "docs": "https://support.unitree.com" }, "summary": "Full-size electric humanoid from Unitree with 5-DOF-per-leg design, known for a 3.3 m/s humanoid walking-speed record.", "note": "SDK/sim/RL code are BSD-3 open source; hardware proprietary. unitree_rl_gym ships pre-trained locomotion policies for g1, h1 and h1_2. Sibling H1-2 is a heavier, longer-armed variant.", "sources": [ { "url": "https://www.unitree.com/h1", "label": "Unitree H1 product page", "checked": "2026-09-24" }, { "url": "https://github.com/unitreerobotics/unitree_ros", "label": "unitree_ros URDFs", "checked": "2026-09-24" } ] }, { "id": "unitree/h1-2", "url": "https://humanoidrobots.systems/unitree/h1-2", "name": "Unitree H1-2", "maker": "Unitree Robotics", "org": "unitree", "slug": "h1-2", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Hangzhou", "year": 2024, "specs": { "heightCm": 178, "massKg": 70, "dof": 27, "payloadKg": 7, "speedMps": 2, "batteryWh": 864, "priceNote": "No price listed on unitree.com. Arm payload is rated 7 kg, peak 21 kg; speed listed as <2 m/s.", "actuators": "Unitree in-house electric joint motors", "compute": "Intel Core i5 standard; i7 or up to 3x Jetson Orin NX optional", "sensors": "3D LiDAR, depth camera" }, "license": { "hw": "LicenseRef-Proprietary", "sw": "BSD-3-Clause" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": true, "software": true }, "opennessScore": 40, "opennessTier": "partial", "level": 1, "models": { "urdf": "https://github.com/unitreerobotics/unitree_ros/tree/master/robots/h1_2_description" }, "repos": [ "https://github.com/unitreerobotics/unitree_ros", "https://github.com/unitreerobotics/unitree_sdk2", "https://github.com/unitreerobotics/unitree_rl_gym" ], "links": { "site": "https://www.unitree.com/h1", "docs": "https://support.unitree.com" }, "summary": "Revised H1 with 7-DOF arms, added ankle DOF and higher arm payload, trading top speed for manipulation.", "note": "Shares the H1 product page. The year is inferred from launch coverage and not confirmed on the maker page. Pre-trained h1_2 policy is in unitree_rl_gym/deploy/pre_train.", "sources": [ { "url": "https://www.unitree.com/h1", "label": "Unitree H1/H1-2 product page", "checked": "2026-09-24" }, { "url": "https://humanoid.guide/product/h1-2/", "label": "Humanoid.guide H1-2", "checked": "2026-09-24" } ] }, { "id": "unitree/r1", "url": "https://humanoidrobots.systems/unitree/r1", "name": "Unitree R1", "maker": "Unitree Robotics", "org": "unitree", "slug": "r1", "class": "humanoid", "humanoid": true, "status": "active", "availability": "buy", "country": "CN", "city": "Hangzhou", "year": 2025, "specs": { "heightCm": 123, "massKg": 29, "dof": 26, "runtimeMin": 60, "priceUsd": 5900, "priceNote": "unitree.com: R1 AIR (20 DOF) US$4,900, R1 US$5,900; R1 EDU contact-sales. Mass is about 27-29 kg depending on model.", "actuators": "Unitree in-house electric joint motors", "compute": "8-core CPU; optional Jetson Orin (40-100 TOPS)", "sensors": "4-mic array, monocular or binocular camera, joint encoders" }, "license": { "hw": "LicenseRef-Proprietary", "sw": "BSD-3-Clause" }, "openness": { "cad": false, "bom": false, "firmware": false, "sim": true, "policies": false, "software": true }, "opennessScore": 30, "opennessTier": "partial", "level": 1, "models": { "urdf": "https://github.com/unitreerobotics/unitree_ros/tree/master/robots/r1_description" }, "repos": [ "https://github.com/unitreerobotics/unitree_ros", "https://github.com/unitreerobotics/unitree_sdk2" ], "links": { "site": "https://www.unitree.com/R1", "buy": "https://www.unitree.com/R1" }, "summary": "Low-cost, lightweight 1.23 m humanoid with 20-26 DOF, sold in AIR, standard and EDU trims.", "note": "Year 2025 is from launch coverage, not the maker page. unitree_ros also includes r1_air, r1_a5 and r1_a7 description variants.", "sources": [ { "url": "https://www.unitree.com/R1", "label": "Unitree R1 product page", "checked": "2026-09-24" }, { "url": "https://github.com/unitreerobotics/unitree_ros", "label": "unitree_ros URDFs", "checked": "2026-09-24" } ] }, { "id": "xpeng/iron", "url": "https://humanoidrobots.systems/xpeng/iron", "name": "XPeng IRON", "maker": "XPeng", "org": "xpeng", "slug": "iron", "class": "humanoid", "humanoid": true, "status": "announced", "availability": "not-for-sale", "country": "CN", "city": "Guangzhou", "year": 2024, "specs": { "heightCm": 178, "massKg": 70, "priceNote": "No price announced.", "compute": "3x XPeng Turing AI chips, 2,250 TOPS", "priceUsd": null }, "license": null, "openness": { "cad": false, "bom": false, "firmware": false, "sim": false, "policies": false, "software": false }, "opennessScore": 0, "opennessTier": "closed", "level": 0, "models": null, "repos": [], "links": { "site": "https://www.xpeng.com" }, "summary": "Humanoid from EV maker XPeng; the next-gen IRON shown at AI Day in Nov 2025 has a humanoid spine, 22-DOF hands and in-house Turing AI chips.", "note": "The 178 cm / 70 kg figures are for the 2025 next-gen IRON; a later report cites 76 body DOF and 21 per hand. In Sept 2026 XPeng opened an automated IRON production line in Guangzhou, with mass production targeted by end-2026. First units go to XPeng stores and campuses, with external sales from 2027. The first IRON was shown in Nov 2024; that year comes from memory and is unverified.", "sources": [ { "url": "https://cnevpost.com/2025/11/05/xpeng-unveils-next-gen-iron-humanoid-robot/", "label": "CnEVPost next-gen IRON", "checked": "2026-09-24" }, { "url": "https://electrek.co/2026/09/07/xpeng-iron-humanoid-robot-production-line/", "label": "Electrek IRON production line (Sept 2026)", "checked": "2026-09-24" } ] } ] }