Reachy Mini
B✓ リンク確認済み Jun 10, 2026
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Reachy Mini — Open-Source Expressive Desktop Robot
An open-source desktop robot designed for hackers and AI builders who want a tangible platform for multimodal interaction experiments. Ships as a flat-pack 3D-printed kit that assembles in roughly 2–3 hours: 6-DOF Stewart-platform head, two antennas, and a rotating base packed with sensors.
Kit-first product from Pollen Robotics / Hugging Face — "from $299" reflects kit pricing. Full CAD, firmware, and software are Apache 2.0 (software) / CC BY-NC-SA (hardware).
Hardware Tiers
| Tier | Price | Compute | Power | Best for |
|---|---|---|---|---|
| Wireless | ~$449 | RPi Compute Module 4 | Onboard battery + Wi-Fi | Fully untethered operation, includes IMU |
| Lite | ~$299 | None (host PC) | USB-C tethered | Developers with GPU, streams sensor data + trajectories over USB-C |
Both share the same kinematics and software stack. A MuJoCo simulation lets you prototype before printing a single part.
Capabilities
- Wide-angle camera, mic array, speaker, IMU → multimodal input
- Python SDK with vision, speech, and LLM helpers
- One-click app install from the Hugging Face Spaces dashboard (LLM conversation, hand-tracking, internet radio)
- Composable — every component can be re-printed, modified, or integrated into larger projects
Printing
The Print All set contains every printed structural part for one complete robot (head + Stewart-platform neck + rotating body + 2 antennas). Print x1 of each unless noted.
Head (6-DOF Stewart platform):
head_front_3dprint+head_back_3dprint— head shell halveshead_mic_3dprint— in-head mic-array mountstewart_main_plate_3dprint+stewart_tricap_3dprint— Stewart-platform platesneck_reference_3dprint— neck linkage reference
Body / base:
body_top_3dprint,body_turning_3dprint,body_down_3dprint,body_foot_3dprint
Antennas (x2 assemblies — print the L/R holders once each):
antenna_body_3dprint,antenna_interface_3dprint,antennaplusantenna_holder_l_3dprint+antenna_holder_r_3dprint
Sensor mounts:
arducam,big_lens_d40,5w_speaker
Note: the 6-DOF head uses 6x Dynamixel XL330 servos and metal Stewart linkage arms (purchased/machined, not printed — see BOM). Bearings, screws and servo cases in the upstream CAD are hardware, not print parts. Material: ABS/PC.
Metadata
- Creator: Pollen Robotics
- Kit vendor: Hugging Face
- License: Apache 2.0 (software) · CC BY-NC-SA (hardware)
Links
🖨 印刷ファイル (16)
body_down_3dprint.stl
body_top_3dprint.stl
body_turning_3dprint.stl
body_foot_3dprint.stl
antenna_body_3dprint.stl
antenna_holder_l_3dprint.stl
必要なハードウェア
Reachy Mini is sold as a kit by Pollen Robotics / Hugging Face and partner Seeed Studio. Kit pricing: Wireless ~$499 and Lite ~$399 (kit subsidizes the BOM via volume sourcing, Dynamixel servos are 3-4x more expensive buying individually on Amazon). Source: Hugging Face Reachy Mini hardware datasheet. All hardware design files Apache 2.0 + CC BY-NC-SA.
Reachy Mini (Wireless) — 6-DOF Stewart head + 1-DOF body + 2 antennas + CM4 + battery
| Component | Qty | Unit Price | Total | Notes |
|---|---|---|---|---|
| Dynamixel XC330-M288-PG servo | 1 | $73 | $73 | Body base rotation |
| Dynamixel XL330-M077-T servo | 2 | $190 | $380 | Antennas (1 each) |
| Dynamixel XL330-M288-T servo | 6 | $120 | $720 | Stewart-platform head (6 DOF: 3 rot + 3 trans) |
| Raspberry Pi CM4 (CM4104016) | 1 | $115.00 | $115.00 | 4 GB RAM, 16 GB eMMC, dual-band Wi-Fi/BT5 — Amazon |
| CM4 controller board | 1 | n/a | — | Custom Pollen PCB: Dynamixel TTL bus, CSI, mic, USB-C passthrough |
| Power board | 1 | n/a | — | Custom Pollen PCB; 6.8–7.6 V distribution |
| LiFePO4 battery 6.4 V 2000 mAh | 1 | $27.95 | $27.95 | 12.8 Wh, OCP/OVP/UVP/short/temp protected |
| Raspberry Pi Camera Module 3 Wide | 1 | $35.00 | $35.00 | Sony IMX708, 12 MP, 120° FOV, autofocus — Amazon |
| Seeed reSpeaker XVF3800 mic array | 1 | $54.99 | $54.99 | 4× PDM MEMS mics, 16 kHz, 64 dBA SNR |
| 5 W 4 Ω speaker | 1 | $4.95 | $4.95 | DSI-connected |
| Wi-Fi patch antenna 2.4/5 GHz | 1 | $3.50 | $3.50 | 2.79 dBi, omnidirectional |
| Structural parts (ABS/PC/Al/Steel) | — | n/a | — | 3D-printed + machined; CAD released by Pollen |
| Wireless retail subtotal (priced parts) | ~$565 | Kit MSRP ~$449 |
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