Asimov v0 Bipedal Legs
BAbout this program
Asimov v0 is an open-source bipedal leg assembly for humanoid robots, built by Menlo Research (Asimov Inc). The design features 12 degrees of freedom total (6 DOF per leg) with an articulated toe and a novel RSU (Revolute Spherical Universal) ankle mechanism. All parts are MJF 3D printing compatible and use off-the-shelf actuators from Encos. The robot uses brushless DC motors across hip pitch/roll/yaw, knee pitch, and dual-motor ankle A/B joints — with peak torques ranging from 36 Nm at the ankle to 120 Nm at the hip pitch. A complete URDF/MuJoCo simulation model and STEP files for the lower body are included in the repository.
Attribution
Designed by Menlo Research / Asimov Inc. Source: github.com/asimovinc/asimov-v0. License: see LICENSE.txt in repository. Community: discord.gg/HzDfGN7kUw.
🖨 Print Files (15)
left_ankle_pitch_link.STL
left_ankle_roll_link.STL
left_hip_pitch_link.STL
left_hip_roll_link.STL
left_hip_yaw_link.STL
left_knee_link.STL
Bill of Materials — Asimov v0 Bipedal Legs
All actuators sourced from Encos. Source BOM: github.com/asimovinc/asimov-v0. Structural parts require MJF 3D printing (professional SLS/MJF service recommended).
Actuators (12 total, 6 per leg)
| Joint | Model | Qty | Peak Torque | Unit Price (aifitlab.com) |
|---|---|---|---|---|
| Hip Pitch (L + R) | EC-A6416-P2-25 | 2 | 120 Nm | ~$925 |
| Hip Roll (L + R) | EC-A5013-H17-100 | 2 | 90 Nm | ~$1,500 |
| Hip Yaw (L + R) | EC-A3814-H14-107 | 2 | 60 Nm | ~$1,375 |
| Knee Pitch (L + R) | EC-A4315-P2-36 | 2 | 75 Nm | ~$750 |
| Ankle A (L + R) | EC-A4310-P2-36 | 2 | 36 Nm | ~$700 |
| Ankle B (L + R) | EC-A4310-P2-36 | 2 | 36 Nm | ~$700 |
Actuator subtotal: ~$11,900 USD
Structural Parts
| Part | Qty | Notes |