Upkie

Upkie is an open-source wheeled biped that balances on two wheels using mjbots actuators, a Raspberry Pi 4 with pi3hat CAN/IMU interface, RYOBI-compatible battery power, RC wheels, and 3D-printed torso/leg hardware. The main software repository contains the balancing agents and documentation, while the pinned upkie_description repository provides the full robot URDF and meshes used by Motari for the generated visual. The wiki BOM lists quantities and suppliers, but not a stable complete checkout total.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A full source 3D asset is available from urdf/upkie.urdf.
• 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: upkie/upkie. Original files stay intact and separately licensed under Apache-2.0; Motari adds a separate, adjacent metadata layer.