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
24 shown23 with a public repo14 distinct licenses
24 of 24
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
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
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
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
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