Auto-assembled, not yet reviewed

LeRobot Humanoid (Biped Platform)

Open biped on RobStride actuators, with a costed BOM and a strict build order written for a builder working with an AI agent.

Reproducibility80/100Strong source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
LeRobot Humanoid (Biped Platform) source parts laid out side by side, 3D render from bearing_spacer14_5_7_3.stl (not the assembled robot)
Parts preview: not the assembled robot · bearing_spacer14_5_7_3.stl

About LeRobot Humanoid (Biped Platform)

The LeRobot Humanoid biped platform is an open-hardware lower body (two legs plus base and torso hardware) built around RobStride quasi-direct-drive actuators and a Raspberry Pi 5 CAN-FD control stack. CAD lives in a public Onshape document and is exported as an STL tree of 75 printed parts across the torso, hips, thighs, knees, shins, ankles and feet. The repo adds machine- and human-readable BOMs with an upstream cost estimate (about $2,636 including about 3.5 kg of PLA+), electronics wiring and connector maps, first power-on and motor commissioning procedures, and a Python commissioning wizard. The knee and ankle linkages are closed chains using shoulder screws, spherical joints and listed bearings. A separate lerobot-humanoid-runtime repo holds the robot model and control runtime. The build is written for a builder working with an AI agent, with an AGENTS.md and a strict order of operations. The 3D view shows only the left ankle and its transmission, not the whole biped.

Licenses

Hardware
Apache-2.0
Software
Apache-2.0
Docs
Not published

Degrees of freedom

12 DoF legs 12

Breakdown source

Bipedsource

How to build LeRobot Humanoid (Biped Platform)

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. Order all buy parts

    Start from hardware/bom/bom_buy.csv (RobStride O0/O2/O3/O5 motors, Pi 5, CAN-FD adapter, IMU, bearings, Norelem joints/screws). Upstream estimate totals $2,635.84, excluding shipping, import duties, and local taxes.

    Upstream stepgithub.com/huggingface/lerobot-humanoid-hardware/blob/8171f5...

  2. Print the STL set

    Print all 75 parts per docs/manufacturing/printing_guide.md; ~3.5 kg PLA+. H2D print profiles are provided as .3mf examples.

    Motari summarygithub.com/huggingface/lerobot-humanoid-hardware/blob/main/d...

  3. Commission every motor

    Before assembly, run python hardware/config/commission_motor.py wizard --channel can0 to set protocol/ID and verify motion. Do not assemble before this passes.

    Upstream stepgithub.com/huggingface/lerobot-humanoid-hardware/blob/8171f5...

  4. Assemble subassemblies

    Follow docs/assembly/assembly_guide.md in its order: torso, hips, thigh, foot and ankle, knee mechanism, shin, ankle mechanism, then final assembly.

    Upstream stepgithub.com/huggingface/lerobot-humanoid-hardware/blob/8171f5...

  5. Wire and first power-on

    Run docs/electronics/check_wiring.md then docs/electronics/first_power_on.md to validate the CAN-FD bus and power before standing.

    Motari summarygithub.com/huggingface/lerobot-humanoid-hardware/blob/main/d...
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.

LeRobot Humanoid (Biped Platform) bill of materials

11 rows

Cost to build

$2,635.84USDsource total
  • biped platform buy items plus ~3.5 kg PLA+, excluding shipping, duties, taxes (upstream estimate dated April 30 2026)$2,635.84source total

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

LeRobot Humanoid (Biped Platform) parts, as the source lists them. Prices are the source's, not checked against vendors.

LeRobot Humanoid (Biped Platform) bill of materials
PartQtySpecSourceConfidence
RobStride O0 actuatortorso/yaw joint
2CAN-FD quasi-direct-drive servo
RobStride$125.00 each, the project's estimateSource BOM: hardware/bom/bom_buy.csv line 9; upstream cost estimate: README.md line 169
high
RobStride O2 actuatorhip-z joint
2CAN-FD quasi-direct-drive servo
RobStride$145.00 each, the project's estimateSource BOM: hardware/bom/bom_buy.csv line 19; upstream cost estimate: README.md line 179
high
RobStride O3 actuatorthigh joints
4CAN-FD quasi-direct-drive servo
RobStride$225.00 each, the project's estimateSource BOM: hardware/bom/bom_buy.csv line 23; upstream cost estimate: README.md line 183
high
RobStride O5 actuatorshin/knee-ankle drive
4CAN-FD quasi-direct-drive servo
RobStride$110.00 each, the project's estimateSource BOM: hardware/bom/bom_buy.csv line 34; upstream cost estimate: README.md line 194
high
Raspberry Pi 5onboard controller
1single-board computer
Raspberry Pi / SparkFun anchor$130.00, the project's estimateSource BOM: hardware/bom/bom_buy.csv line 2; upstream cost estimate: README.md line 162
high
SAVVYCANFD 2CH adapterUSB dual CAN-FD, 12 Mbps; only adapter proven with RobStride protocol
1USB to dual CAN-FD
Pibiger-Tech anchor$59.00, the project's estimateSource BOM: hardware/bom/bom_buy.csv line 4; upstream cost estimate: README.md line 164
high
IMUBNO055 or BNO085 acceptable
1BNO055 or BNO085 orientation IMU
Adafruit / Ardusimple anchor$64.00, the project's estimateSource BOM: hardware/bom/bom_buy.csv line 3; upstream cost estimate: README.md line 163
high
Bearing 35x72x17hip-z bearing
4single-row ball bearing
123roulement price anchor$8.27 each, the project's estimateSource BOM: hardware/bom/bom_buy.csv line 20; upstream cost estimate: README.md line 180
high
Spherical joint 27628-01-05ankle linkage rod end
8rod end, plain bearing, DIN ISO 12240-4
Norelem$20.93 each, the project's estimateSource BOM: hardware/bom/bom_buy.csv line 44; upstream cost estimate: README.md line 204
high
Shoulder screw 07534-05X40thigh + ankle axis
4ISO7379, D1=5 L1=40 M4, steel 12.9
Norelem price anchor$8.18 each, the project's estimateSource BOM: hardware/bom/bom_buy.csv line 30 and line 47; upstream cost estimates: README.md line 190 and line 207
high
PLA+ filament~3.5 kg total, target 3-4 kg
11.75 mm PLA+
Elegoo price anchor$56.00, the project's estimateUpstream manufacturing cost estimate: README.md line 214; total scope: README.md lines 146-151
high

Rows from the source's own parts list 191

hardware/bom/bom_buy.csv@ae8abe9csv

Source rowQtyPrice and vendorLine
Raspberry Pi 5
1
vendor not listedno price listed
L2
IMU
1
vendor not listedno price listed
L3
SAVVYCANFD 2CH CANFD adapter
1
vendor not listedno price listed
L4
Power cable red
1
vendor not listedno price listed
L5
Power cable black
1
vendor not listedno price listed
L6
Communication cable color 1
1
vendor not listedno price listed
L7
Communication cable color 2
1
vendor not listedno price listed
L8
RobStride O0
2
vendor not listedno price listed
L9

44 more rows in hardware/bom/bom_buy.csv

hardware/bom/bom.csv@ae8abe9csv

Source rowQtyPrice and vendorLine
Raspberry Pi 5
1
vendor not listedno price listed
L2
IMU
1
vendor not listedno price listed
L3
SAVVYCANFD 2CH CANFD adapter
1
vendor not listedno price listed
L4
Power cable red
1
vendor not listedno price listed
L5
Power cable black
1
vendor not listedno price listed
L6
Communication cable color 1
1
vendor not listedno price listed
L7
Communication cable color 2
1
vendor not listedno price listed
L8
RobStride O0
2
vendor not listedno price listed
L9

119 more rows in hardware/bom/bom.csv

README.md@ae8abe9markdown

Source rowQtyPrice and vendorLine
Raspberry Pi 5
1
vendor not listed$130.00
L162
IMU
1
vendor not listed$64.00
L163
SAVVYCANFD 2CH CANFD adapter
1
vendor not listed$59.00
L164
RobStride O0
2
vendor not listed$250.00
L169
RobStride O2
2
vendor not listed$290.00
L179
Bearing 35x72x17
4
vendor not listed$33.08
L180
RobStride O3
4
vendor not listed$900.00
L183
Shoulder screw 07534-05X40
2
vendor not listed$16.36
L190

4 more rows in README.md

LeRobot Humanoid (Biped Platform) source files

10 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.

LeRobot Humanoid (Biped Platform) in simulation

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

The 3D specimen on this page is converted from hardware/cad/stl/biped_platform/left_leg/ankle_mechanism/bearing_spacer14_5_7_3.stl at ae8abe9, with the parts laid out side by side because the source has no assembly.

Builds of LeRobot Humanoid (Biped Platform)

0 reviewed

No reviewed builds of LeRobot Humanoid (Biped Platform) 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

Last push to huggingface/lerobot-humanoid-hardware: 2026-08-27 (checked 2026-10-01)

Related links

How this page was made

Assembled from public sources on 2026-06-04, 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: source commit ae8abe99.

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 LeRobot Humanoid (Biped Platform)? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 80/100

Markdown
[![Motari reproducibility score for LeRobot Humanoid (Biped Platform)](https://motari.io/api/v1/badge/lerobot-humanoid-biped)](https://motari.io/r/lerobot-humanoid-biped)
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<a href="https://motari.io/r/lerobot-humanoid-biped"><img src="https://motari.io/api/v1/badge/lerobot-humanoid-biped" alt="Motari reproducibility score for LeRobot Humanoid (Biped Platform)" height="20"></a>

Not fully met yet: cad / mesh present (partial). 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