Kayra Humanoid

57 stars on GitHub.

Kayra is a fully open-source, community-evolved 3D-printable humanoid robot designed to walk nearly as fast as a human toddler while remaining affordable and easy to assemble. Designed using the free FreeCAD software, every part is printable on a standard FDM printer in PETG — no soldering required for the minimal configuration.

Source: https://github.com/assadollahi/kayra

The robot features a modular architecture so community members can redesign individual subsystems (legs, arms, torso) without affecting others. It is compatible with a wide variety of servo controllers including Arduino and ESP-32, and can be operated via PS2 or 8Bitdo remote controls. A Raspberry Pi Camera or similar computer vision module can be attached for machine learning tasks.

Kayra ships with pre-configured walking and grabbing motion patterns that work immediately after build. A MuJoCo simulation environment is provided so software development can proceed without hardware. The full software stack uses MicroPython on servo controllers and Python on a host computer.

Goals include: walking at near-toddler speed, lifting toys with arms, and enabling practical machine learning experiments on affordable hardware. Designed and evolved collaboratively at kayra.org. Open source under BSD-3-Clause.