ToddlerBot
Low-cost, open-source humanoid platform for scalable policy learning (Stanford).
- CC-BY-NC-SA-4.0NC
- humanoid robot30 DoF
- $5,727.94source total
About ToddlerBot
ToddlerBot is a low-cost, open-source humanoid robot from Stanford built around Dynamixel actuators and a 3D-printed structure. The repository ships a pip-installable Python stack covering low-level control, RL and diffusion-policy training, MuJoCo simulation and real-world deployment. Public hardware files include Onshape CAD, printable meshes, assembly documentation and KiCad and JLC PCB BOM exports. The published BOM sheet totals $5,727.94 (2XC) or $7,293.56 (2XM) for the essentials, tools not included.
Licenses
- Hardware
- CC-BY-NC-SA-4.0NC
- Software
- MIT
- Docs
- MIT
Degrees of freedom
30 DoF
No per-group breakdown has been sourced yet.
Humanoidsource
How to build ToddlerBot
5 stepsSteps marked Motari summary condense the linked source; follow the source for exact instructions.
Print the structural parts
Print the parts from the MakerWorld release, which provides sliced 3MF plates with orientations and profiles (Bambu Lab printers recommended), using PLA-CF and PLA per the BOM; use the Onshape CAD for custom parts.
Motari summaryhshi74.github.io/toddlerbot/hardware/04_assembly_manual.htmlSource the BOM
Buy the parts in the published ToddlerBot BOM spreadsheet (2XC is the default, 2XM the stronger option), and order the PCB early since it takes about 10 days to arrive.
Motari summaryhshi74.github.io/toddlerbot/hardware/04_assembly_manual.htmlAssemble the robot
Follow the assembly manual PDF and accompanying videos to build torso, limbs, neck and head.
Motari summaryhshi74.github.io/toddlerbot/hardware/04_assembly_manual.htmlInstall the software stack
pip-install the toddlerbot package (Python >= 3.10) for low-level control, sim, and deployment.
Motari summaryhshi74.github.io/toddlerbot/hardware/04_assembly_manual.htmlCalibrate and run policies
Calibrate actuators, then replay keyframe motions or run RL/diffusion policies in sim and on hardware.
Motari summaryhshi74.github.io/toddlerbot/hardware/04_assembly_manual.html
Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.
ToddlerBot bill of materials
54 rowsCost to build
- 2XC essentials, tools excluded
- 2XM essentials, tools excluded
- third-party assembled kit
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.
ToddlerBot parts, as the source lists them. Prices are the source's, not checked against vendors.
| Part | Qty | Spec | Source | Confidence |
|---|---|---|---|---|
DYNAMIXEL 2XC430-W250-TMotors; quantity for the 2XC; 2XM quantity 6 | 2 | DYNAMIXEL 2XC430-W250-T | ROBOTIS$298.89 each, $597.78 totalToddlerBot published BOM sheet, Essentials section row 6, read 2026-09-30 | high |
DYNAMIXEL 2XL430-W250-TMotors; quantity for the 2XC; not used in 2XM | 6 | DYNAMIXEL 2XL430-W250-T | ROBOTIS$149.39 each, $896.34 totalToddlerBot published BOM sheet, Essentials section row 7, read 2026-09-30 | high |
DYNAMIXEL XC330-T288-TMotors; quantity for the 2XC; 2XM quantity 6 | 6 | DYNAMIXEL XC330-T288-T | ROBOTIS$103.39 each, $620.34 totalToddlerBot published BOM sheet, Essentials section row 8, read 2026-09-30 | high |
DYNAMIXEL XC430-T240BB-TMotors; quantity for the 2XC; 2XM quantity 4 | 4 | DYNAMIXEL XC430-T240BB-T | ROBOTIS$137.89 each, $551.56 totalToddlerBot published BOM sheet, Essentials section row 9, read 2026-09-30 | high |
DYNAMIXEL XM430-W210-TMotors; quantity for the 2XC; 2XM quantity 4 | 4 | DYNAMIXEL XM430-W210-T | ROBOTIS$310.39 each, $1,241.56 totalToddlerBot published BOM sheet, Essentials section row 10, read 2026-09-30 | high |
DYNAMIXEL XM430-W350-TMotors; 2XM configuration only | 4 | DYNAMIXEL XM430-W350-T | ROBOTIS$310.39 each, $1,241.56 totalToddlerBot published BOM sheet, Essentials section row 11, read 2026-09-30 | high |
DYNAMIXEL HN11-I101 SetMotors; quantity for the 2XC; 2XM quantity 8 | 10 | DYNAMIXEL HN11-I101 Set | ROBOTIS$8.05 each, $80.50 totalToddlerBot published BOM sheet, Essentials section row 12, read 2026-09-30 | high |
DYNAMIXEL HN12-I101 SetMotors; quantity for the 2XC; 2XM quantity 6 | 4 | DYNAMIXEL HN12-I101 Set | ROBOTIS$20.47 each, $81.88 totalToddlerBot published BOM sheet, Essentials section row 13, read 2026-09-30 | high |
DYNAMIXEL XC330-T288-TParallel gripper option; not included in the sheet's $5,727.94 total | 2 | DYNAMIXEL XC330-T288-T | ROBOTIS$103.39 each, $206.78 totalToddlerBot published BOM sheet, Essentials section row 15, read 2026-09-30 | high |
Jetson Orin NX 16GComputers; quantity for the 2XC | 1 | Jetson Orin NX 16G | Seeed Studio (reComputer)$955.00 eachToddlerBot published BOM sheet, Essentials section row 16, read 2026-09-30 | high |
M.2 CB375NF Wifi CardComputers; quantity for the 2XC | 1 | M.2 CB375NF Wifi Card | Amazon$18.36 eachToddlerBot published BOM sheet, Essentials section row 17, read 2026-09-30 | high |
WiFi AntennaComputers; quantity for the 2XC | 1 | WiFi Antenna | Amazon$9.49 eachToddlerBot published BOM sheet, Essentials section row 18, read 2026-09-30 | high |
FIsheye CameraSensors; quantity for the 2XC | 2 | FIsheye Camera | Amazon$49.99 each, $99.98 totalToddlerBot published BOM sheet, Essentials section row 19, read 2026-09-30 | high |
Phone SpeakerSensors; quantity for the 2XC | 1 | Phone Speaker | Amazon$5.99 eachToddlerBot published BOM sheet, Essentials section row 20, read 2026-09-30 | high |
Speaker DriverSensors; quantity for the 2XC | 1 | Speaker Driver | Amazon$7.99 eachToddlerBot published BOM sheet, Essentials section row 21, read 2026-09-30 | high |
BNO085 IMUSensors; quantity for the 2XC | 1 | BNO085 IMU | Adafruit$24.95 eachToddlerBot published BOM sheet, Essentials section row 22, read 2026-09-30 | high |
M2*6 Pre-coated ScrewsHardware; quantity for the 2XC | 200 | M2*6 Pre-coated Screws | Taobao$0.01 each, $1.80 totalToddlerBot published BOM sheet, Essentials section row 23, read 2026-09-30 | high |
M2 Screw KitHardware; quantity for the 2XC | 2 | M2 Screw Kit | Amazon$8.99 each, $17.98 totalToddlerBot published BOM sheet, Essentials section row 24, read 2026-09-30 | high |
M2.5 Screw KitHardware; quantity for the 2XC | 1 | M2.5 Screw Kit | Amazon$9.99 eachToddlerBot published BOM sheet, Essentials section row 25, read 2026-09-30 | high |
M3 Flat Head Screw KitHardware; quantity for the 2XC | 1 | M3 Flat Head Screw Kit | Amazon$9.99 eachToddlerBot published BOM sheet, Essentials section row 26, read 2026-09-30 | high |
M3*8 Set ScrewHardware; quantity for the 2XC | 1 | M3*8 Set Screw | Amazon$6.99 eachToddlerBot published BOM sheet, Essentials section row 27, read 2026-09-30 | high |
M3*10 Set ScrewHardware; quantity for the 2XC | 1 | M3*10 Set Screw | Amazon$6.99 eachToddlerBot published BOM sheet, Essentials section row 28, read 2026-09-30 | high |
M4 Screw KitHardware; quantity for the 2XC | 1 | M4 Screw Kit | Amazon$22.38 eachToddlerBot published BOM sheet, Essentials section row 29, read 2026-09-30 | high |
M4 Long Screw KitHardware; quantity for the 2XC | 1 | M4 Long Screw Kit | Amazon$9.58 eachToddlerBot published BOM sheet, Essentials section row 30, read 2026-09-30 | high |
M3 and M4 Lock Nuts KitHardware; quantity for the 2XC | 1 | M3 and M4 Lock Nuts Kit | vendor linked by the project$7.98 eachToddlerBot published BOM sheet, Essentials section row 31, read 2026-09-30 | high |
Vibra-TITE 213 ThreadlockerHardware; quantity for the 2XC | 1 | Vibra-TITE 213 Threadlocker | Amazon$6.55 eachToddlerBot published BOM sheet, Essentials section row 32, read 2026-09-30 | high |
Bearing 683 10pcsHardware; quantity for the 2XC | 1 | Bearing 683 10pcs | Amazon$11.96 eachToddlerBot published BOM sheet, Essentials section row 33, read 2026-09-30 | high |
Bearing 684 10pcsHardware; quantity for the 2XC | 2 | Bearing 684 10pcs | Amazon$7.99 each, $15.98 totalToddlerBot published BOM sheet, Essentials section row 34, read 2026-09-30 | high |
Bearing AXK0414Hardware; quantity for the 2XC | 30 | Bearing AXK0414 | Amazon$1.48 each, $44.40 totalToddlerBot published BOM sheet, Essentials section row 35, read 2026-09-30 | high |
Bushing 3*5*5 10pcsHardware; quantity for the 2XC | 1 | Bushing 3*5*5 10pcs | Amazon$5.99 eachToddlerBot published BOM sheet, Essentials section row 36, read 2026-09-30 | high |
5mm Rubber TapeHardware; quantity for the 2XC | 1 | 5mm Rubber Tape | Amazon$16.99 eachToddlerBot published BOM sheet, Essentials section row 37, read 2026-09-30 | high |
Step Down Power Converter 12V 4.5AElectronics; quantity for the 2XC | 2 | Step Down Power Converter 12V 4.5A | Pololu$34.95 each, $69.90 totalToddlerBot published BOM sheet, Essentials section row 38, read 2026-09-30 | high |
USB to Mirco USB Cable 0.5 FeetElectronics; quantity for the 2XC | 1 | USB to Mirco USB Cable 0.5 Feet | Amazon$5.98 eachToddlerBot published BOM sheet, Essentials section row 39, read 2026-09-30 | high |
USB to Mirco USB Cable 1.5 FeetElectronics; quantity for the 2XC | 1 | USB to Mirco USB Cable 1.5 Feet | Amazon$8.99 eachToddlerBot published BOM sheet, Essentials section row 40, read 2026-09-30 | high |
USB Hub Port SplitterElectronics; quantity for the 2XC | 1 | USB Hub Port Splitter | Amazon$6.98 eachToddlerBot published BOM sheet, Essentials section row 41, read 2026-09-30 | high |
Jumper WireElectronics; quantity for the 2XC | 1 | Jumper Wire | Amazon$6.98 eachToddlerBot published BOM sheet, Essentials section row 42, read 2026-09-30 | high |
JST EH CableElectronics; quantity for the 2XC | 10 | JST EH Cable | Digi-Key$0.38 each, $3.82 totalToddlerBot published BOM sheet, Essentials section row 43, read 2026-09-30 | high |
JST EH HousingElectronics; quantity for the 2XC | 25 | JST EH Housing | Digi-Key$0.05 each, $1.17 totalToddlerBot published BOM sheet, Essentials section row 44, read 2026-09-30 | high |
5 Pairs of XT30 Male and Female PlugsElectronics; quantity for the 2XC | 1 | 5 Pairs of XT30 Male and Female Plugs | Amazon$9.99 eachToddlerBot published BOM sheet, Essentials section row 45, read 2026-09-30 | high |
XT30 to XT60 Male Female 4 pcsElectronics; quantity for the 2XC | 1 | XT30 to XT60 Male Female 4 pcs | Amazon$8.99 eachToddlerBot published BOM sheet, Essentials section row 46, read 2026-09-30 | high |
Barrel Jack ConnectorElectronics; quantity for the 2XC | 1 | Barrel Jack Connector | Amazon$9.49 eachToddlerBot published BOM sheet, Essentials section row 47, read 2026-09-30 | high |
Rocker Switch 5 pcsElectronics; quantity for the 2XC | 1 | Rocker Switch 5 pcs | Amazon$5.99 eachToddlerBot published BOM sheet, Essentials section row 48, read 2026-09-30 | high |
2000 mAh Lipo BatteryElectronics; quantity for the 2XC | 1 | 2000 mAh Lipo Battery | Amazon$49.99 eachToddlerBot published BOM sheet, Essentials section row 49, read 2026-09-30 | high |
Lipo Battery Voltage TesterElectronics; quantity for the 2XC | 1 | Lipo Battery Voltage Tester | Amazon$12.95 eachToddlerBot published BOM sheet, Essentials section row 50, read 2026-09-30 | high |
Lipo Battery Balance ChargerElectronics; quantity for the 2XC | 1 | Lipo Battery Balance Charger | Amazon$31.99 eachToddlerBot published BOM sheet, Essentials section row 51, read 2026-09-30 | high |
14 AWG Power Extension CableElectronics; quantity for the 2XC | 1 | 14 AWG Power Extension Cable | Amazon$17.49 eachToddlerBot published BOM sheet, Essentials section row 52, read 2026-09-30 | high |
PLA-CF 1KGMaterials; quantity for the 2XC | 2 | PLA-CF 1KG | Bambu Lab$34.99 each, $69.98 totalToddlerBot published BOM sheet, Essentials section row 53, read 2026-09-30 | high |
PLA 1KGMaterials; quantity for the 2XC | 1 | PLA 1KG | Bambu Lab$19.99 eachToddlerBot published BOM sheet, Essentials section row 54, read 2026-09-30 | high |
100 nF capacitorcontrol-board PCB BOM row | 16 | 0603, value 100nF | LCSCprice not listeddocs/_static/bom_v8.csv line 2, read 2026-06-06 | high |
JST EH 1x03 TTL connectorcontrol-board TTL connectors | 8 | JST_EH_B3B-EH-A_1x03_P2.50mm_Vertical | LCSCprice not listeddocs/_static/bom_v8.csv line 10, read 2026-06-06 | high |
AMASS XT30UPB-F power connectorJetson and auxiliary power outputs | 3 | 1x02 P5.0mm vertical XT30 footprint | LCSCprice not listeddocs/_static/bom_v8.csv lines 11, 17, 19, read 2026-06-06 | high |
TXB0104RUT level translatorcontrol-board logic translation ICs | 8 | Texas_R-PUQFN-N12 package | LCSCprice not listeddocs/_static/bom_v8.csv line 24, read 2026-06-06 | high |
CH348L USB/serial controllercontrol-board IC | 1 | LQFP-100 14x14mm P0.5mm | LCSCprice not listeddocs/_static/bom_v8.csv line 26, read 2026-06-06 | high |
3D-printed humanoid structuretorso, head, waist, legs, arms, and gripper visual assemblies | 1 | MJCF assembly plus merged STL visual meshes | 3D print yourself / CAD repositoryprice not listedtoddlerbot/descriptions/assemblies/2xc_430_gripper/robot.xml and merged STL assets, read 2026-06-06 | high |
Rows from the source's own parts list 46
docs/_static/bom_v8.csv@e337f3bcsv
| Source row | Qty | Price and vendor | Line |
|---|---|---|---|
C14663 | 16 | vendor not listedno price listed | L2 |
C15849 | 1 | vendor not listedno price listed | L3 |
C59461 | 1 | vendor not listedno price listed | L4 |
C1648 | 2 | vendor not listedno price listed | L5 |
C130723 | 8 | vendor not listedno price listed | L6 |
C130724 | 8 | vendor not listedno price listed | L7 |
C130719 | 1 | vendor not listedno price listed | L8 |
C10430 | 8 | vendor not listedno price listed | L9 |
20 more rows in docs/_static/bom_v8.csv
docs/_static/bom.csv@e337f3bcsv
| Source row | Qty | Price and vendor | Line |
|---|---|---|---|
H1 | 1 | vendor not listedno price listed | L2 |
H3 | 1 | vendor not listedno price listed | L3 |
C5116530 | 1 | vendor not listedno price listed | L4 |
C160259 | 1 | vendor not listedno price listed | L5 |
C160259 | 1 | vendor not listedno price listed | L6 |
C5188440 | 1 | vendor not listedno price listed | L7 |
C2902689 | 1 | vendor not listedno price listed | L8 |
C2902689 | 1 | vendor not listedno price listed | L9 |
10 more rows in docs/_static/bom.csv
ToddlerBot source files
14 files- toddlerbot/descriptions/toddlerbot_2xc_gripper/toddlerbot_2xc_gripper.urdf
- toddlerbot/descriptions/toddlerbot_2xm_gripper/toddlerbot_2xm_gripper.urdf
- toddlerbot/descriptions/toddlerbot_2xc/toddlerbot_2xc.urdf
- toddlerbot/sim/terrain/assets/chair.stl
- toddlerbot/descriptions/assemblies/2xc_430_gripper/assets/merged/arm_2_collision.stl
- toddlerbot/descriptions/assemblies/2xc_430_gripper/assets/merged/arm_2_visual.stl
- docs/_static/bom_v8.csv
- docs/_static/bom.csv
- toddlerbot/descriptions/default.yml
- toddlerbot/manipulation/teleoperation/vr_configs/quest_toddy_gmr.yaml
- toddlerbot/locomotion/rsl_rl_config.yml
- docs/_static/assembly_manual.pdf
- docs/sections/06_motion_gallery.rst
- toddlerbot/manipulation/teleoperation/general_motion_retargeting/utils/lafan_vendor/license.txt
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.
ToddlerBot in simulation
Robot description files a simulator or CAD tool can load, linked at the commit they were found.
- MJCF (MuJoCo)toddlerbot/descriptions/assemblies/2xc_430_gripper/robot.xmlhshi74/toddlerbot
- Onshapecad.onshape.com/documents/565bc33af293a651f66e88d2
The 3D specimen on this page is converted from toddlerbot/descriptions/assemblies/2xc_430_gripper/robot.xml at e337f3b.
Builds of ToddlerBot
0 reviewedNo reviewed builds of ToddlerBot 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
- Hardwarecad.onshape.com/documents/565bc33af293a651f66e88d2
- Softwaregithub.com/hshi74/toddlerbote337f3b
- Bill of materialsdocs.google.com/spreadsheets/d/e/2PACX-1vQmoxJnTnUaQ_-WAAjnc...
- Build guidehshi74.github.io/toddlerbot/hardware/04_assembly_manual.html
- Build guidegithub.com/hshi74/toddlerbot/blob/main/docs/_static/assembly...e337f3b
- Documentationgithub.com/hshi74/toddlerbot/tree/main/docs/hardwaree337f3b
Last push to hshi74/toddlerbot: 2026-07-31 (checked 2026-10-01)
Related links
- Project pagetoddlerbot.github.io
- Documentationhshi74.github.io/toddlerbot
- Paper (2025)arXiv:2502.00893
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-pinned, not costed.
Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.
Robots like ToddlerBot
Shares parts with
Robots whose bill of materials names the same parts, most shared first. Each part links to every robot that uses it.
- TurtleBot3DynamixelXL430XM43063
- Koch v1.1DynamixelXL43089
- ORCA HandDynamixelXC33073
- Actuated UMI GripperDynamixelXL43068
- ROBOTIS OpenManipulator-XDynamixelXM43065
- Yale OpenHand ProjectDynamixelXM43065
Parts in this robot's BOM: ROBOTIS Dynamixel servos (12 other robots), NVIDIA Jetson (7 other robots), Dynamixel XL430 servo (3 other robots), Dynamixel XM430 servo (3 other robots), Dynamixel XC330 servo (2 other robots)
Similar robots
The same type of robot, closest first by body plan, published cost and degrees of freedom. All humanoid robots
Berkeley Humanoid Lite
Sub-$5k open-source humanoid with modular 3D-printed cycloidal gearboxes.
Poppy Humanoid
DormantOpen-source, mostly 3D-printed humanoid for research and education, driven by 25 Dynamixel actuators.
InMoov
Gael Langevin's life-size open-source 3D-printed humanoid, the original maker humanoid platform.
SigmaBan (Rhoban)
Rhoban's RoboCup kid-size humanoid, shipped as a clean Onshape-to-robot sim export.
Badge for the README
Maintain ToddlerBot? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.
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[](https://motari.io/r/toddlerbot)<a href="https://motari.io/r/toddlerbot"><img src="https://motari.io/api/v1/badge/toddlerbot" alt="Motari reproducibility score for ToddlerBot" height="20"></a>Not fully met yet: 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