Iapyx Research
Open source

Reference designs you can build.

31 open hardware and software projects for humanoids, exoskeletons and prosthetics — what they cost to build, what license they carry, and where the code lives. Sort by cost to find the cheapest way into a platform.

TypeAll 31Humanoid / robot 24Exoskeleton 4Prosthetic 3
31 shown26 with a public repo17 distinct licenses
31 of 31
Links
Amazing HandFully 3D-printed anthropomorphic hand, 8 DoF (2 per finger x 4 fingers) via mechanical linkages driven by hobby-grade servos — no cables. Rigid 3D-printed "bones" with soft TPU shells, 400g. BOM, 3D files, print guide, assembly guide and demo programs (including webcam hand-tracking via inverse kinematics) all published. Integrates with Pollen's Reachy 2 arm.
Humanoid / robotApache License 2.0Under €200 in off-the-shelf parts
CodeSite
Berkeley BlueLow-cost, backdrivable, intrinsically-safe 7-DoF robot arm ("Blue") built for AI/manipulation research, holding over 2kg at full extension. Full ROS-based software stack (blue_core, blue_interface, blue_simulator, blue_mujoco) published alongside the hardware design.
Humanoid / robotOpen source—
CodeSite
Berkeley Humanoid Lite3D-printed, modular cycloidal-gearbox bipedal humanoid. 80cm tall, 16kg (35.2 lb). Walks, hops, writes with a marker, solves a Rubik's Cube, remote-controllable. RL locomotion controller trained in sim, deployed zero-shot to real hardware. All parts sourceable from common e-commerce sites + desktop 3D printer.
Humanoid / robotOpen source (hardware + code); NSF-backed (grants #2303735, #2238346)Under $5,000 in parts (US market pricing)
CodeSite
Bolt (Open Dynamic Robot Initiative)Open-source 6-DoF bipedal research robot built from 3D-printed parts and off-the-shelf components, part of a broader multi-institution initiative (alongside quadruped and manipulator platforms) for low-cost dynamic-legged-robot research.
Humanoid / robotOpen source—
CodeSite
Duke Humanoid V231-DoF research humanoid built around a "visible-reachable workspace" idea — two independently articulated RGB-D camera gimbals instead of a fixed head, so the robot can look at one thing while reaching for another. 1.2m tall, 36kg, quasi-direct-drive actuation, 50Hz onboard control policy. Full sim (MJCF models, meshes, camera/gripper designs) and deployment stack (control, perception, motion planning, training code, policy checkpoints) published across two repos. Successor to the fully open-sourced 10-DoF Duke Humanoid V1.
Humanoid / robotApache License 2.0 (simulation + deployment repos)—
CodeSite
e-NABLE (Raptor Reloaded hand)A global volunteer network (~40,000 volunteers, 100+ countries) that designs and 3D-prints free body-powered prosthetic hands and arms for people who need them, largely for children and in underserved communities. Raptor Reloaded is its most widely built hand design. Traces back to Ivan Owen and Richard Van As's original 2011-2013 3D-printed hand collaboration — the project usually credited with starting the open-source-prosthetics movement.
ProstheticBSD 2-Clause (Raptor Reloaded design)Roughly $20-50 in 3D-printing filament and hardware
CodeSite
EPIC Lab (Georgia Tech)exoskeleton & prosthetic intelligent controls lab; AI-driven wearable robot control
Exoskeleton——
Site
HACKberry3D-printed myoelectric prosthetic arm — detects muscle/EMG signals via an onboard sensor and microcontroller to drive individual finger and hand movement. Built by exiii, a Tokyo team of ex-Sony hardware engineers; placed in the 2013 James Dyson Award and won the Gugen Hardware Contest while still in development, then open-sourced the 3D models, code and sensor data in 2015.
ProstheticOpen-source design files released by exiii (no formal OSS license file in the repo)~$300 in parts, per exiii
CodeSite
Harvard Biodesign Labsoft exosuits and soft wearable robots for mobility augmentation & rehab
Exoskeleton——
Site
HopeJRFull-size, 66-DoF open-source DIY humanoid — arms, torso and leg structures, dexterous hands, mostly 3D-printed, custom PCBs and no soldering required for assembly. LeRobot-integrated for recording/training/inference, plus a teleoperation rig with 1:1 joint mapping for data collection. Roughly 1/5 to 1/7 the cost of commercial humanoids like Unitree G1 or Optimus.
Humanoid / robotOpen source (blueprints, code, and URDF models published; no formal LICENSE file found in the repo as of last check)~$3,000 in parts
CodeSite
HumanPlus33-DoF humanoid with two dexterous hands that learns by shadowing human demonstrations from a single RGB camera, using the Humanoid Imitation Transformer (HIT) policy. Demonstrated autonomous tasks including folding clothes, typing, and warehouse tasks after learning from a small number of human demos.
Humanoid / robotOpen source~$107,945 in parts, per the research team's own published cost breakdown
CodeSite
iCubA 1-meter-tall research humanoid testbed for embodied cognition and AI, designed by a European university consortium and built at IIT Genoa. One of the longest-running, most widely deployed open-source humanoid research platforms, with a worldwide developer community. Full hardware design, software and documentation released as open source.
Humanoid / robotGPL/LGPL (software); CC BY-SA 4.0 (URDF/SDF models)—
CodeSite
InMoovThe original open-source, life-size, 3D-printed humanoid — the project that started the whole DIY-humanoid movement. Upper-body focus: articulated hands/arms/head/torso on Arduino + MyRobotLab framework, with voice recognition, face/object tracking, and Kinect-based 3D perception. All parts print on a 12x12x12cm build volume.
Humanoid / robotCC BY-NC (hardware); MyRobotLab software is GPL v2~$800–$1,500 in parts (excludes 3D printer)
CodeSite
Jizai Armswearable supernumerary robotic limbs on a backpack base (UTokyo, JIZAI body project)
Exoskeleton——
Site
LeRobot (Hugging Face)open-source robot learning library + low-cost 3d-printed humanoid platform
Humanoid / robotOpen source—
CodeSite
MK1 HumanoidSimulation and design assets for a DIY balancing humanoid — NVIDIA Isaac Lab environment, a pre-trained balancing policy, URDF/USD/mesh files, and Inventor/SolidWorks CAD. Documented across the creator's YouTube build series rather than a single build guide.
Humanoid / robotThe Unlicense (public domain)—
CodeSite
Mobile ALOHALow-cost, whole-body teleoperated bimanual mobile manipulator — a wheeled base plus two ALOHA arms, controllable by a single human operator. Used to collect demonstration data for imitation learning on tasks like cooking, cleaning and dishwasher loading; co-training with static ALOHA data boosted task success up to 90%.
Humanoid / robotOpen source—
CodeSite
NimbRo-OP2(X)Adult-sized (135cm, 18kg), 3D-printed open humanoid research platform, including 3D-printed gears, developed for the RoboCup AdultSize league. 18 DoF: 5 per leg (parallel kinematics), 3 per arm, 2 in the neck. Built to give research groups a capable humanoid alternative to expensive or closed-source platforms.
Humanoid / robotCC BY-NC-SA 3.0 (hardware/CAD)—
CodeSite
Open Duck MiniMiniature, low-cost, 3D-printable open-source replica of Disney's BDX droid. Desktop-scale bipedal robot for embodied-AI/RL research and education; ROS 2, Python control APIs, Isaac Gym and MuJoCo compatible.
Humanoid / robotOpen source—
CodeSite
Open-Source LegNSF-funded modular, powered knee-ankle robotic prosthetic leg platform, with a Python SDK for developing and testing control algorithms on the hardware. Used by 20+ research groups worldwide, letting labs enter lower-limb prosthetics research without designing a leg from scratch.
ProstheticLGPL-2.1 (per the repo); GPL-3.0 is cited on the docs site, so check current terms before use—
CodeSite
OpenArm7-DoF human-scale robot arm (sized for a ~160-165cm person) built for physical-AI research — QDD backdrivable motors, 6.0kg peak / 4.1kg nominal payload per arm, aluminum/stainless structural parts. Full CAD, BOM, firmware and LeRobot teleoperation/data-collection integration published; CNC and 3D-printed parts are individually purchasable and buildable.
Humanoid / robotApache License 2.0$6,500 for a complete bimanual (two-arm) system
CodeSite
OpenExoopen-source modular exoskeleton framework (NAU biomechatronics lab)
Exoskeleton——
Site
pib (printable intelligent bot)3D-printed modular humanoid built for education, makers, and AI tinkerers. Block-based programming through Python/ROS2/AI modules. Built-in Raspberry Pi, camera, touchscreen face. Used in 70+ schools and educational institutions across Europe.
Humanoid / robotOpen source (STL files, BOM, docs public); pib.Pro professional variant in developmentNon-printable parts kit sold via pib.Shop (makerbox / Edubox tiers); STL files free
CodeSite
Poppy Project (Inria)first open-source 3d-printed humanoid robot platform for research & education
Humanoid / robotOpen source—
Site
Pupper V3Raspberry Pi 5-based open-source quadruped, successor to the original Stanford Pupper/Woofer line. 400W GIM4305 brushless motors, out-of-the-box RL locomotion policy, Luxonis depth camera, LCD face/debug screen.
Humanoid / robotOpen source~$1,000 BOM
CodeSite
Reachy MiniDesktop robot with a 6-DoF motorized head, body rotation, animated antennas, camera, 4 mics and a speaker — built as an approachable, buildable AI-embodiment kit rather than a full humanoid. Ships with 15+ pre-built behaviors on the Hugging Face hub and integrates with HF's speech/vision models. Sold as an assembly kit.
Humanoid / robotApache License 2.0 (SDK); hardware CAD availability should be checked against the project's current docs$399 (Lite, tethered to a host computer) / $499 (wireless, with onboard Raspberry Pi + battery)
CodeSite
ROBOTIS OP3Miniature humanoid research/education platform, successor to the original DARwIn-OP and OP2 ("DARWIN") lineage. XM-430 Dynamixel actuators, Intel NUC onboard compute, developed under ROS. Full mechanical documentation and ROS packages published.
Humanoid / robotApache-2.0 (ROS software); open hardware docs (STP files, schematics, URDF) with no single clear top-level hardware license—
CodeSite
RX1 (Red Rabbit Robotics)Full human-scale, dual 7-DOF-arm humanoid torso (no legs). Stereo vision “face,” teleoperated via computer or VR headset, trainable via imitation learning. Full ROS1 stack: URDF description, inverse-kinematics solver, Gazebo simulation, Feetech servo motor control.
Humanoid / robotOpen source (MIT-style); full CAD, BOM, and ROS1 code public on GitHubUnder $1,000 in parts
CodeSite
SO-ARM100 / SO-101Low-cost 3D-printable robot arm (leader + follower pair) designed to work directly with Hugging Face's LeRobot library. SO-101 is the current generation: simplified wiring/assembly and updated leader-arm motors versus the original SO-100. Full BOM, 3D print files and assembly guide published.
Humanoid / robotOpen source—
CodeSite
ToddlerBot30-active-DOF research humanoid for loco-manipulation: walking, crawling, cartwheels, full-body & bimanual manipulation; RL and diffusion-policy compatible.
Humanoid / robotOpen source (code, assembly manuals, docs public)Not disclosed (BOM/spreadsheet published)
CodeSite
XLeRobotPractical household dual-arm mobile manipulator combining a Lekiwi mobile base with two SO-101 arms, an IKEA cart chassis and an off-the-shelf power bank. Reported under 4 hours total assembly time. A dual-wheel differential-drive base variant followed in December 2025, and a browser-based MuJoCo/3D-Gaussian-Splatting simulator was added in January 2026.
Humanoid / robotOpen source~$660 in parts
CodeSite