Auto-assembled, not yet reviewed

InMoov

Gael Langevin's life-size open-source 3D-printed humanoid, the original maker humanoid platform.

Reproducibility60/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
InMoov 30-DoF humanoid robot, 3D render from inmoov.urdf.xacro
main assembly 3D · inmoov.urdf.xacro

About InMoov

InMoov is the first open-source 3D-printed life-size humanoid robot, started by French sculptor Gael Langevin in January 2012. The body is built entirely from 3D-printable plastic parts designed for a 12x12x12 cm printer bed (a few parts exceed it by some millimetres) and is driven by hobby servos through Arduino microcontrollers, with higher-level control handled by the MyRobotLab framework. The STL parts library, assembly tutorials and bill of materials are distributed from inmoov.fr under a Creative Commons Attribution-NonCommercial license; because of the NonCommercial clause the design is open and free to build but not OSHW-compatible. The hardware source is inmoov.fr; the MyRobotLab/InMoov GitHub repo is the control software launcher, not the mechanical CAD.

Licenses

Hardware
CC BY-NC (version not stated)NCstated on the InMoov hardware map diagram and page
Software
Not published
Docs
Not published

Degrees of freedom

30 DoF

No per-group breakdown has been sourced yet.

Humanoidsource

How to build InMoov

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Print the body parts

    Print the STL parts from inmoov.fr on a printer with at least 12 x 12 x 12 cm of build volume (some parts exceed this by a few millimetres); ABS is preferred but PLA also works.

    Motari summaryinmoov.fr/build-yours

  2. Build a hand and forearm

    If you are new to servos and Arduino, build the Finger Starter first. Then build the hand and forearm: mount the finger servos on the servo bed, fit the wrist servo and run braided fishing line tendons to the fingers.

    Motari summaryinmoov.fr/build-yours

  3. Assemble arms, torso, head

    Follow the inmoov.fr bicep, shoulder and torso, and head, eyes and neck tutorials. The hardware map lists Hitec HS805BB servos for the arms, shoulders, head rotation and stomach, and HK15298B servos for the jaw and neck tilt.

    Motari summaryinmoov.fr/build-yours

  4. Wire servos to Arduino

    Connect servos through the Nervo board to Arduino boards per the inmoov.fr wiring docs.

    Upstream stepinmoov.fr/nervo-board-tutorial

  5. Run MyRobotLab

    Flash MRLComm to the Arduinos and drive the robot from the MyRobotLab InMoov service for calibration and motion.

    Motari summaryinmoov.fr/build-yours
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

InMoov bill of materials

8 rows

Cost to build

The sources do not publish a cost total. The rows below are what they list, without a sum.

InMoov parts, as the source lists them. Prices are the source's, not checked against vendors.

InMoov bill of materials
PartQtySpecSourceConfidence
Arduino controller setmain microcontroller boards for MRLComm and servo control
12x Arduino Mega; latest configuration also lists 1x Arduino Nano
Arduino / compatibleolder price: 2x Mega = 80 EUR ebayOfficial InMoov hardware BOM and latest configuration
high
Hands and forearms servo setfinger and wrist actuation
110x HK15298B, 2x MG996R for rotational wrist
HobbyKing / ebayolder price: 180 EUR + 22 EUROfficial BOM hands/forearms section
high
Arms and shoulders servo setlarge shoulder and arm joints
18x Hitec HS805BB; source recommends stronger/faster alternatives if available
Hitec / ebayolder price: 240 EUROfficial BOM arms/shoulders section
high
Head, neck, eye, and torso actuator sethead, jaw, neck, eye, and stomach motion
12x Hitec HS805BB head, 1x HK15298B jaw, 2x HK15298B neck tilting, 2x DS929hvCorona or similar eye servos, plus stomach servos
Hitec / HobbyKing / Corona or similarnot fully pricedOfficial BOM head/torso and stomach sections
high
Nervo board control interface setArduino-compatible shield and breakout boards
2one set handles one side; complete robot needs two
InMoov shop63.00 EUR eachOfficial Nervo Board + Components product page
high
Printed plastic material setself-printed body parts from the official STL library
1ABS or PLA; official build page requires 12x12x12 cm printer bed; BOM lists ABS quantities by subassembly
3D print yourself / filament supplierolder price: 70 EUR hand/forearm ABS, 56 EUR arms/shoulders ABS, plus head/torso ABS; current filament cost not verifiedOfficial build page and BOM subassembly sections
med
Fasteners, springs, tendon line, ribbon cable, and wiring setmechanical hardware and tendon actuation supplies
1M3/M4/M8 screws, small servo screws, extension springs, 0.8mm braided/fishing line, bolts, ribbon cable, wires
hardware store / ebayolder, partial prices: line 10 EUR + 5 EUR, bolts 10 EUR per section; complete current total not verifiedOfficial hardware BOM screw, hand/forearm, head/torso, and ribbon cable sections
high
Power and peripheral setpower supply, sensors, audio, and vision peripherals
16V12Ah battery + charger or 6V60A/adjusted 5V50A supply; USB hub, OAK-D Lite, PIR, HC-SR04, NeoPixel, finger pressure sensors, speakers, sound card
mixedolder price: battery + charger 35 EUROfficial BOM head/torso and latest configuration sections
med

Rows from the source's own parts list 3

default-hardware-maphtml

Source rowQtyPrice and vendorLine
InMoov official hardware BOM and latest configuration
Arduino, servos, screws, printed material, power, sensors, Nervo boards
InMoov / HobbyKing / ebay / hardware store / mixedhistorical EUR prices for some rows; not current checkout verified
L151

build-yourshtml

Source rowQtyPrice and vendorLine
Build prerequisites and canonical BOM/STL links
3D printer with at least 12x12x12 cm build volume; Arduino Uno/Mega; HK15298B, Hitec HS805BB, MG996
InMoov official siteno price listed
L141

product/nervo-board-componentshtml

Source rowQtyPrice and vendorLine
Nervo Board + Components
Complete robot needs two Nervo board sets; product contains shield, 11 mini breakout boards, headers, XT60 connector, reset switch; extra ribbon/printed connectors not included
InMoov shop63.00 EUR each listed on official product page
L165

InMoov source files

6 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

InMoov in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

No URDF, MJCF, SDF, USD or Onshape model has been found in the sources.

The 3D specimen on this page is converted from inmoov_description/robots/inmoov.urdf.xacro at f2ff008.

Builds of InMoov

0 reviewed

No reviewed builds of InMoov yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Related links

How this page was made

Assembled from public sources on 2026-06-07, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: official BOM + reviewed ROS visual 2026-06-07.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain InMoov? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 60/100

Markdown
[![Motari reproducibility score for InMoov](https://motari.io/api/v1/badge/inmoov)](https://motari.io/r/inmoov)
HTML
<a href="https://motari.io/r/inmoov"><img src="https://motari.io/api/v1/badge/inmoov" alt="Motari reproducibility score for InMoov" height="20"></a>

Not fully met yet: cad / mesh present (partial), bom evidence (partial), oshw-compatible license. The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed