Open-source humanoid robots

Humanoids and bipeds, from small walking bipeds to full-size humanoid platforms and upper-body humanoids.

The atlas lists 14 open-source humanoid robots. 9 publish a URDF or MJCF model for simulation. 9 publish a build cost; the US-dollar figures run from $2.6k for LeRobot Humanoid (Biped Platform) (biped platform buy items plus ~3.5 kg PLA+, excluding shipping, duties, taxes (upstream estimate dated April 30 2026)) to $70k for Reachy 2 (Reachy 2 robot as reported at the HF acquisition). 8 carry a hardware license that permits commercial use, and 3 are licensed for non-commercial use only. The most-starred source repository here is Open Duck Mini's, with 4.2k GitHub stars.

Compare the humanoid robots

Sorted by reproducibility score. A cost is the figure the source publishes, in its own currency, with its basis and what it covers.

Open-source humanoid robots compared
RobotCostDoFHardware licenseSim modelScore
Berkeley Humanoid LiteHumanoid
$4.3ksource total, full humanoid incl. 22 actuators, 2 grippers, compute, battery (US prices)
24
CC-BY-SA-4.0Commercial use OK
URDF, MJCF, Onshape
80
LeRobot Humanoid (Biped Platform)Biped humanoid
$2.6ksource total, biped platform buy items plus ~3.5 kg PLA+, excluding shipping, duties, taxes (upstream estimate dated April 30 2026)
12
Apache-2.0Commercial use OK
Onshape
80
Poppy HumanoidHumanoidDormant
$8.5kestimate, upstream build estimate of 8,000 to 9,000 USD, mostly actuators
25
CC-BY-SA-4.0Commercial use OK
URDF
80
Dagor BipedBipedDormant
not published
6
BSD-3-ClauseCommercial use OK
none published
73
MEVITABiped
$12ksource total, full parts list: 10 motors, Jetson Orin Nano, MID-360, batteries, power electronics, meviy metal parts, MISUMI mechanics; excludes screws, printed parts, RUBIK LINK
10
MITCommercial use OK
URDF
73
ToddlerBotHumanoid
$5.7ksource total, 2XC essentials, tools excluded
30
CC-BY-NC-SA-4.0Non-commercial
MJCF, Onshape
70
Legolas (open-source biped)BipedDormant
not published
10
MITCommercial use OK
MJCF
65
Open Duck MiniBiped
€398source total, base robot per the BOM sheet
16
Apache-2.0Commercial use OK
URDF
63
pib (printable intelligent bot)Humanoid
€3.1kvendor kit, pib#5.Makerbox, all non-printable parts incl. VAT; excludes about 11 to 12 kg PETG
26
GPL-3.0Commercial use OK
none published
63
InMoovHumanoid
not published
30
CC BY-NC (version not stated)Non-commercial
none published
60
HOPEJrHumanoid
$3kestimate, announced target price for the full humanoid (secondary report)
66
Apache-2.0Unknown or unclear
URDF
53
NimbRo-OP2/OP2XHumanoidDormant
not published
18
CC-BY-NC-SA-3.0Non-commercial
none published
48
Reachy 2Humanoid
$70kestimate, Reachy 2 robot as reported at the HF acquisition
24
Apache-2.0Unknown or unclear
MJCF
40
SigmaBan (Rhoban)Humanoid
not published
20
No license stated for the Onshape designUnknown or unclear
URDF, Onshape
10

Humanoids in 3D

Renders come from each project's own source files; a card says so when there is no model yet.

Berkeley Humanoid Lite, 3D render from the project's source files
HumanoidAssembly 3D

Berkeley Humanoid Lite

Sub-$5k open-source humanoid with modular 3D-printed cycloidal gearboxes.

CC-BY-SA-4.0$4.3ksource total
LeRobot Humanoid (Biped Platform) source parts, 3D render (not the assembled robot)
Biped humanoidParts preview: not the assembled robot

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.

Apache-2.0$2.6ksource total
Poppy Humanoid, 3D render from the project's source files
HumanoidAssembly 3D

Poppy Humanoid

Dormant

Open-source, mostly 3D-printed humanoid for research and education, driven by 25 Dynamixel actuators.

CC-BY-SA-4.0$8.5kestimate
Dagor Biped source parts, 3D render (not the assembled robot)
BipedParts preview: not the assembled robot

Dagor Biped

Dormant

FDM-printable 6-DoF biped remixing the ODRI Bolt with Dagor brushless actuators.

BSD-3-Clausecost not published
MEVITA, 3D render from the project's source files
BipedAssembly 3D

MEVITA

Open-source 10-DoF biped built from e-commerce parts and sheet-metal welding.

MIT$12ksource total
ToddlerBot, 3D render from the project's source files
HumanoidAssembly 3D

ToddlerBot

Low-cost, open-source humanoid platform for scalable policy learning (Stanford).

CC-BY-NC-SA-4.0$5.7ksource total
Legolas (open-source biped), 3D render from the project's source files
BipedSimplified 3D

Legolas (open-source biped)

Dormant

Cassie-inspired mini hobby-servo biped for learning RL locomotion, with full SolidWorks CAD and STLs.

MITcost not published
Open Duck Mini, 3D render from the project's source files
BipedAssembly 3D

Open Duck Mini

Open Duck Mini v2, a roughly 42 cm BDX-style miniature biped.

Apache-2.0€398source total
pib (printable intelligent bot), 3D render from the project's source files
HumanoidAssembly 3D

pib (printable intelligent bot)

Free open-source 3D-printable humanoid upper body for learning AI and robotics.

GPL-3.0€3.1kvendor kit
InMoov, 3D render from the project's source files
HumanoidAssembly 3D

InMoov

Gael Langevin's life-size open-source 3D-printed humanoid, the original maker humanoid platform.

CC BY-NC (version not stated)cost not published
HOPEJr, 3D render from the project's source files
HumanoidSimplified 3D

HOPEJr

DIY humanoid arm and hand with tendon-driven fingers and LeRobot teleoperation.

Apache-2.0$3kestimate
NimbRo-OP2/OP2X, 3D render from the project's source files
HumanoidSimplified 3D

NimbRo-OP2/OP2X

Dormant

Adult-sized, 3D-printed open-source humanoid soccer platform from Uni Bonn.

CC-BY-NC-SA-3.0cost not published
Reachy 2, 3D render from the project's source files
HumanoidAssembly 3Dclaimed

Reachy 2

VR-teleoperable manipulation humanoid from Pollen Robotics with open software; mechanical CAD unpublished.

Apache-2.0$70kestimate
SigmaBan (Rhoban), 3D render from the project's source files
HumanoidAssembly 3D

SigmaBan (Rhoban)

Rhoban's RoboCup kid-size humanoid, shipped as a clean Onshape-to-robot sim export.

No license stated for the Onshape designcost not published

Also in the catalog, not compared because nothing can be built from them today: K-Scale K-Bot (defunct), Berkeley Humanoid (paper only).

Side-by-side comparisons

Cost, DoF, actuators, simulation models, license and every score criterion, with the robots drawn to scale. Pick your own with the Compare button on each card.

Parts these humanoid robots use

From the robots' bills of materials: how many of the robots above list each part.

Explore the atlas