LeRobot Humanoid (Biped Platform)

The LeRobot Humanoid biped platform is an open-hardware lower body (two legs plus base/torso hardware) built around RobStride quasi-direct-drive actuators and a Raspberry Pi 5 CAN-FD control stack. The hardware repository is unusually disciplined: CAD is maintained in a public Onshape document and exported as a side-and-subassembly STL tree (75 printed parts across torso, hipx, hipz, thigh, knee, shin, ankle and foot), with a machine-readable and human-readable BOM plus an upstream cost estimate (~$2,636 incl. ~3.5 kg PLA+), electronics wiring and connector mapping, first-power-on and motor-commissioning procedures, and a self-contained Python commissioning wizard. Closed-chain knee and ankle linkages use shoulder screws, spherical joints and a source-listed bearing schedule. A separate lerobot-humanoid-runtime repo holds the robot model and control runtime. The repo is explicitly authored for a Human + Agent build flow, including an AGENT.md and a strict order-of-operations. Motari renders only the pinned left-ankle and ankle-transmission STL parts as a source-subset visual; this is not the complete biped platform, not the full humanoid, and not an assembled Onshape export.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A limited/simplified source 3D asset is available from hardware/cad/stl/biped_platform/left_leg/ankle_mechanism/bearing_spacer14_5_7_3.stl.
• Source-backed bill-of-materials evidence is linked with per-part provenance where available. Prices marked estimated are not yet verified against a vendor.
• A transparent reproducibility score so buildability is a sortable, first-class property.
• Cross-links to the source repo, datasets, models, and forks.

Source

Canonical source: Virgileboat/lerobot-humanoid-hardware. Original files stay intact and separately licensed under Apache-2.0; Motari adds a separate, adjacent metadata layer.