Roboto Origin open-source 23-DoF humanoid robot, 3D render from rpo.urdf

Roboto Origin

Full-stack open-source 1.25 m, 23-DoF biped humanoid from RoboParty.

Start the build

What it is

Roboto Origin (RPO, earlier named Atom01) is a 1.25 m, about 34 kg bipedal humanoid with 23 actuated joints from Shanghai RoboParty Technology, built from CNC-machined aluminium parts, 14 Damiao DM 4340P and 9 DM 10010L motors, a 48 V 15 Ah battery and an RDK X5 or Orange Pi 5 Plus computer. The roboto_origin repository is a daily snapshot aggregating eight RoboParty sub-repositories: rpo_hardware (SolidWorks project, per-part STEP files, drawings, parts lists and the RBE_Board power and USB-to-CAN PCB with Gerbers), rpo_description (URDF and MJCF with STL meshes), rpo_appearance (shell STLs, static display only), plus ROS 2 deployment, IsaacLab RL training, USB2CAN firmware, navigation and XR teleoperation code. Hardware design files are CERN-OHL-W-2.0, RoboParty software is GPL-3.0-only, the training module is BSD-3-Clause with some parkour files under CC-BY-NC-4.0, and docs are CC-BY-SA-4.0; vendor motor, battery and standard-part models inside the CAD are excluded from those grants. V2.0 is the recommended hardware; its parts list publishes no prices, and the README-linked D-BOM (labelled ATOM 01 v1.0.1) states a CNY 49,713 header total that does not match its own closing row. The assembly, wiring and calibration manuals are PDFs in Chinese.

Licenses

Hardware
CERN-OHL-W-2.0
Software
GPL-3.0-only
Docs
CC-BY-SA-4.0

Degrees of freedom

23 DoF arms 10legs 12waist 1

Breakdown source

Bipedal humanoidParallel ankleFull bodysource

Auto-assembled, not yet reviewed

Source record

Sources
2.5k stars, last push 2026-10-02
HW license
CERN-OHL-W-2.0
Cost
CN¥49,713source total, ATOM 01 v1.0.1 D-BOM header total (the README-linked BOM table); the current V2.0 parts list V1.1.3 publishes no prices
Lifecycle
Active
Engine
v3.1.1
Checked
Model
rpo.urdf@c71fd92rendered 2026-10-02
Envelope
424 × 1063 × 319 mmas modelled, default pose

Maintain Roboto Origin? Claim this page to correct it.

Parts and cost

16 rows

Cost to build

CN¥49,713CNYsource total
  • ATOM 01 v1.0.1 D-BOM header total (the README-linked BOM table); the current V2.0 parts list V1.1.3 publishes no pricesCN¥49,713source 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.

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

Roboto Origin bill of materials
PartQtySpecSourceConfidence
DM 4340P (48V) actuatorJoint actuator
14Damiao DM 4340P, 48 V
Damiao (DM)CNY 949 each in the ATOM 01 v1.0.1 D-BOM; V2.0 parts list is not pricedRoboparty/roboto_origin V2.0 parts list V1.1.3 row RB-roboto-30; price from assets/BOM_EN.md line 61
high
DM 10010L (48V) actuatorJoint actuator; 14 DM 4340P plus 9 DM 10010L give the 23 actuated joints
9Damiao DM 10010L, 48 V
Damiao (DM)CNY 1,989 each in the ATOM 01 v1.0.1 D-BOM; V2.0 parts list is not pricedRoboparty/roboto_origin V2.0 parts list V1.1.3 row RB-roboto-31; price from assets/BOM_EN.md line 62
high
DM FDCAN analyzerMotor setup and debugging adapter listed with the actuators
1Damiao FDCAN analyzer
Damiao (DM)not listed in source BOMRoboparty/roboto_origin V2.0 parts list V1.1.3 row RB-roboto-32
high
RDK X5 8G single-board computerMain controller; the parts list also lists an RTC, a SanDisk 32 GB SD card, a 15 cm IPEX antenna and a cooling kit; docs also support an Orange Pi 5 Plus
1RDK X5, 8 GB
D-RoboticsCNY 599 in the ATOM 01 v1.0.1 D-BOM; V2.0 parts list is not pricedRoboparty/roboto_origin V2.0 parts list V1.1.3 row RB-roboto-36; price from assets/BOM_EN.md line 67
high
Chaohe HI14M0-USB IMUBody IMU; the older ATOM 01 v1.0.1 D-BOM lists the HI13 M0-USB instead
1HI14M0-USB IMU/VRU, USB-232
Chaohenot listed in source BOMRoboparty/roboto_origin V2.0 parts list V1.1.3 row RB-roboto-35
high
RBE_Board v2.0 (3-in-1 board)RoboParty PCB combining 48 V to 5 V conversion, power distribution and USB-to-CAN; Gerbers, schematic and LCSC component BOM are in the repo (files dated 2026-04-09 are labelled RBE_PWR_HUB V2.1)
1XT60 48 VDC input, USB-C 5 V up to 8 A, 4 x XT30 (2+2) 48 V outputs, USB-to-CAN, 80 x 60 mm
RoboParty design, fabricate from repo Gerbersnot listed in source BOMRoboparty/roboto_origin V2.0 parts list V1.1.3 row RB-roboto-41; spec from modules/rpo_hardware/V2.0/roboto_origin_pcb/README.md lines 19-26
high
48V 15Ah lithium-ion batteryBattery pack
148 V, 15 Ah, 140 x 140 x 115 mm (Fuxiaoer)
FuxiaoerCNY 528 in the ATOM 01 v1.0.1 D-BOM; V2.0 parts list is not pricedRoboparty/roboto_origin V2.0 parts list V1.1.3 row RB-roboto-28; price from assets/BOM_EN.md line 44
high
Lithium battery chargerCharger with aviation-plug connector
13-pin aviation plug
not named in source BOMnot listed in source BOMRoboparty/roboto_origin V2.0 parts list V1.1.3 row RB-roboto-29
high
Emergency stop buttonPhysical e-stop on the main power path
1Lanbo M3, oxidized head, no light
LanboCNY 31.5 in the ATOM 01 v1.0.1 D-BOM; V2.0 parts list is not pricedRoboparty/roboto_origin V2.0 parts list V1.1.3 row RB-roboto-42; price from assets/BOM_EN.md line 45
high
Latching metal push-button switchBackplate main-board switch added in V2.0
15 V, green ring light, latching, with lead
not named in source BOMnot listed in source BOMRoboparty/roboto_origin V2.0 parts list V1.1.3 row RB-roboto-43
high
GamepadUsed to enable motors, reset joints and start inference
1handheld controller (XInput mode per the quick start)
not named in source BOMnot listed in source BOMRoboparty/roboto_origin V2.0 parts list V1.1.3 row RB-roboto-45
high
CNC structural parts set26 part numbers (arms, thighs, calves, hip, chest splints, feet, linkages); STEP files and drawings are in 02_Manufacturing
16061 and 7075 aluminium, 120-grit sandblasted and black anodized; 45 steel linkages blackened
CNC shop from repo STEP files; README names Jialichuang prototypingnot listed in V2.0 parts list; the ATOM 01 v1.0.1 D-BOM frame subtotal is CNY 15,670Roboparty/roboto_origin V2.0 parts list V1.1.3 rows RB-roboto-01 to RB-roboto-26; subtotal from assets/BOM_EN.md line 39
high
3D-printed calibration partsPrinted jigs for lying-down calibration with arms vertical; a printed carrier-board mount v2.0 is listed separately
83D printed, self-printed
3D print yourselfnot listed in source BOMRoboparty/roboto_origin V2.0 parts list V1.1.3 row RB-roboto-33
high
Bearing setGrouped as one bearing category upstream
11 x deep groove ball bearing 130 x 165 x 18; 8 x spherical plain bearing G-series 8; 9 x AXK6085 thrust needle roller and cage; 2 x 16 x 40 universal-joint cross bearing
not named in source BOMnot listed in V2.0 parts list; the ATOM 01 v1.0.1 D-BOM prices only the 130 x 165 x 18 bearing, at CNY 506.6Roboparty/roboto_origin V2.0 parts list V1.1.3 rows RB-roboto-48 to RB-roboto-51
high
Cable harness set RBW_Origin_01 to 1323 leads across 13 harness types for motor power and CAN; routing is in the V2.0 wiring guide
23XT30 (2+2) and XT30U leads, 10 cm to 60 cm
RoboParty harness specnot listed in source BOMRoboparty/roboto_origin V2.0 parts list V1.1.3 rows RB-roboto-52 to RB-roboto-64
high
Fasteners and dowel pinsFastener lines are listed individually upstream (22 lines)
1M2.5 to M6 socket and flat-head screws, 4 x 18 and 4 x 22 dowel pins, M3 standoffs, M4 eye bolts
not named in source BOMnot listed in source BOMRoboparty/roboto_origin V2.0 parts list V1.1.3 rows RB-roboto-68 to RB-roboto-89
high

Rows from the source's own parts list 25

assets/BOM_EN.md@c71fd92markdown

Source rowQtyPrice and vendorLine
48V 15Ah Li-ion pack
1
detail.tmall.com528
L44
Emergency stop relay
1
item.taobao.com31.5
L45
DM 4340P (48V)
14
item.taobao.com949
L61
DM 10010L
9
item.taobao.com1989
L62
RDK X5 8G
1
vendor not listed599
L67
Deep groove ball bearing 130*165*18
1
vendor not listed506.6
L98
ATOM 01 main frame / structural parts subtotal
70
vendor not listed15670
L39
ATOM 01 v1.0.1 D-BOM closing total
vendor not listed49743.53
L101

1 more rows in assets/BOM_EN.md

modules/rpo_hardware/V2.0/roboto_origin_mechanic/00_Docs/萝博头原型机（RoboParty Roboto Origin）散件清单 V1.1.3.xlsx@c71fd92xlsx

Source rowQtyPrice and vendorLine
RB-roboto-30 DM 4340P（48V）
14
vendor not listedno price listed
L36
RB-roboto-31 DM 10010L （48V）
9
vendor not listedno price listed
L37
RB-roboto-32 DMFDCAN分析仪
1
vendor not listedno price listed
L38
RB-roboto-28 48V 15Ah锂电池
1
vendor not listedno price listed
L34
RB-roboto-29 锂电池充电器
1
vendor not listedno price listed
L35
RB-roboto-33 ROBOTO Origin标定件
8
vendor not listedno price listed
L39
RB-roboto-35 超核HI14M0-USB IMU/VRU USB-232
1
vendor not listedno price listed
L41
RB-roboto-36 RDK X5 8G
1
vendor not listedno price listed
L42

8 more rows in modules/rpo_hardware/V2.0/roboto_origin_mechanic/00_Docs/萝博头原型机（RoboParty Roboto Origin）散件清单 V1.1.3.xlsx

How to build

6 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. Assign motor IDs before assembly

    Before assembling, give every motor its ID from the body motor-ID layout and calibrate its encoder, following the Damiao motor debugging document. Do not strike the motors; if a rotor binds after tightening, check that the locating screws were removed.

    Upstream stepgithub.com/Roboparty/roboto_origin/blob/c71fd9287d28104dca11...

  2. Assemble the V2.0 structure

    Follow the V2.0 installation manual in order: legs, hips, leg-to-hip connection, waist, arms, cable fixtures, then switches and interfaces. Locate each part with the longer locating screws, tighten the rest diagonally, then replace the locating screws; apply threadlocker to screws.

    Upstream stepgithub.com/Roboparty/roboto_origin/blob/c71fd9287d28104dca11...

  3. Wire the motor chains

    Route the RBW_Origin harnesses per the V2.0 wiring guide. Motors chain by slave ID: left leg 0x01 to 0x06, right leg 0x07 to 0x0C, left arm 0x0E to 0x12, right arm 0x13 to 0x17, with the waist motor 0x0D joined to the right-leg chain.

    Upstream stepgithub.com/Roboparty/roboto_origin/blob/c71fd9287d28104dca11...

  4. Calibrate with limit pins

    Insert the cylindrical limit pins (the BOM supplies 18 mm and 22 mm lengths) and fit the Roboto Origin calibration parts to hold each joint at its reference pose; once the joint can no longer rotate, positioning is complete.

    Upstream stepgithub.com/Roboparty/roboto_origin/blob/c71fd9287d28104dca11...

  5. Flash the controller and set up CAN

    Flash the RoboParty RDK X5 image (or install the real-time kernel packages on an Orange Pi 5 Plus), clone roboparty_deploy with submodules and set rtprio 98. Bring up can0 left leg, can1 right leg and waist, can2 left arm, can3 right arm at 1 Mbps; the IMU defaults to 921600 baud at 500 Hz.

    Upstream stepgithub.com/Roboparty/roboparty_deploy/blob/a8a0f1557cc5d0852...

  6. Zero, reset and start

    With the robot hung from a load-bearing support, run scripts/set_zero.py to write each motor zero, then start ./tools/start_robot.sh. Press X to enable the motors and A to reset the joints, then lower the robot until its feet touch the ground with the protection still in place, and press B to start inference with someone ready to press X or the physical emergency stop. Charge the battery if it is below 50 V.

    Motari summarygithub.com/Roboparty/roboparty_deploy/blob/a8a0f1557cc5d0852...
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.

How reproducible

How confidently this design builds into a working robot, from what its sources publish: each criterion's points, quality tier and evidence.

89/100Strong source coverage, unverified

Capped at 89: the criteria add up to 90, and a score of 90 or more needs a reviewed build.

Engine v3.1.1 at c71fd92, 2 items reviewed by hand

How this score is computed

Files and sim

14 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.

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 modules/rpo_description/urdf/rpo.urdf at c71fd92.

Builds

0 reviewed

No reviewed builds of Roboto Origin 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

Where the facts come from

Last push to Roboparty/roboto_origin: 2026-10-02 (checked 2026-10-02)

How this page was made

Assembled from public sources on 2026-09-30, 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: 2026-09-30 Roboparty/roboto_origin@c71fd92 README, LICENSES.md, module LICENSE files, tree.

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

Badge: reproducibility 89/100

Markdown
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<a href="https://motari.io/r/roboto-origin"><img src="https://motari.io/api/v1/badge/roboto-origin" alt="Motari reproducibility score for Roboto Origin" height="20"></a>

A score of 90 or more needs a reviewed build. How the score is computed