LeRobot Humanoid (Biped Platform)

The LeRobot Humanoid (Biped Platform) is a fully open-source, 3D-printed humanoid biped robot developed by Virgile Batto and the Hugging Face LeRobot team. Powered by a Raspberry Pi 5 and 12 RobStride CAN-FD actuators arranged across two legs (6 degrees of freedom per leg, 12 DOF total), it represents a serious open-hardware effort to make capable humanoid locomotion accessible to researchers and advanced builders worldwide. Every mechanical, electrical, and firmware artifact is freely available under the Apache 2.0 license, from the Onshape CAD source to the bill of materials to the motor commissioning scripts.

Creator & License

Author: Virgile Batto (Hugging Face LeRobot team)

License: Apache 2.0

Hardware repository (CAD, BOM, assembly docs, STLs): https://github.com/Virgileboat/lerobot-humanoid-hardware

Runtime repository (motor control, gait, model inference): https://github.com/Virgileboat/lerobot-humanoid-runtime

Public Onshape CAD document (start here for design exploration): https://cad.onshape.com/documents/fb645318a27646d1d8840be6/w/d1cae8805fb652b4d1614997/e/804a1da43f242001a05129b4

All build assets — STL files, BOM CSVs, wiring diagrams, motor commissioning scripts — are republished here under the same Apache 2.0 terms.

Printing

The Print All set is complete — all 47 unique STLs for one full biped. Both legs are present as proper left/right mirror pairs (_12 = left, _22 = right). There are no missing parts and no alternates to deselect.

The build uses ~75 printed pieces from these 47 files because several parts repeat. Until per-file print-multiples are supported, print the quantities below:

Print x4 each (bearing spacers, shared across both legs):

• bearing_spacer14_5_7_3, bearing_spacer24_5_7_3, bearing_spacer34_5_7_3, bearing_spacer44_5_7_3

Print x2 each (repeated per leg / both u-joints):

• ujoint_ujoint, ujoint_hat_small_12, ujoint_hat_small_22, ujoint_spacer_12_ujoint, ujoint_spacer_22_ujoint
• tibias2_rod_long, tibias2_rod_small, tibias2_hat_big, tibias2_shin_spacer_2
• tibias_actuation_ankle_12, tibias_actuation_ankle_22
• foot_foot, foot_hat_small
• spacer12_5_9_4_5, spacer22_5_9_4_5, femur_v2_hat_femur_2

Print x1: every other file (the remaining torso, hip, femur and tibia parts — each left/right mirror is its own file).

Total: 47 files → ~75 physical parts (3–4 kg PLA+). Left and right parts are true mirrors and not interchangeable.

Hardware Requirements

This robot is BYOD (Bring Your Own Device). The orobot-firmware layer does not currently support RobStride CAN-FD actuators; all joint control runs directly on the Raspberry Pi through the lerobot-humanoid-runtime repository. The orobot program record here serves as a build reference, asset hub, and control-interface stub.

Required hardware:

• Raspberry Pi 5 (8 GB recommended) — primary compute
• SAVVYCANFD 2CH CAN-FD adapter (USB, dual channel, 12 Mbps max) — connects Pi to motor bus
• 12 × RobStride actuators:
  • 2 × RobStride O0 (torso/hip yaw)
  • 2 × RobStride O2 (hip Z)
  • 4 × RobStride O3 (thigh)
  • 4 × RobStride O5 (shin)
• IMU: BNO055 or BNO085 breakout board
• Mechanical: ~75 custom 3D-printed PLA+ parts, plus precision bearings and fasteners per BOM

Specifications

Build Start Sequence

Order long-lead items (motors, bearings, shoulder screws from hardware/bom/bom_buy.csv) first — they can take weeks. Print STLs per docs/manufacturing/printing_guide.md (~3–4 kg PLA+; orientation matters for structural leg parts). Commission and ID every motor before any mechanical assembly — protocol or ID errors after assembly require disassembling the leg to fix. Full step-by-step at lerobot-humanoid-hardware.

Safety

High-torque actuators — a physical E-stop is required and must be accessible at all times during powered operation. See docs/safety.md for the full bring-up checklist.

Attribution

This program page was created by the orobot BROKER-2 index to help builders find and start this project. All design credit goes to Virgile Batto and the Hugging Face LeRobot team. Please star the source repos if this build helps your project.