BAbout this program
ToddlerBot is a low-cost, open-source humanoid robot platform designed for scalable policy learning and research in robotics and AI. Standing approximately 50cm tall and weighing around 2.5kg, it features 23 Dynamixel servo motors (XC330 or XM430 series), a Jetson Orin NX compute module, custom TTL power PCB, stereo depth camera, and 6-axis IMU. The codebase covers low-level control, reinforcement learning training with MuJoCo/MJX, diffusion policy training, and real-world deployment. Two variants are available: toddlerbot_2xc (budget-friendly, XC330 motors) and toddlerbot_2xm (stronger, XM430 motors). Supported capabilities include bipedal walking, whole-body locomotion over obstacles, keyframe animation playback, VR teleoperation, and loco-manipulation.
Attribution
Author: Haochen Shi, Weizhuo Wang, Shuran Song, C. Karen Liu (Stanford) License: Code: MIT · Hardware design (STL/CAD): CC BY-NC-SA 4.0 Source: https://github.com/hshi74/toddlerbot Papers: ToddlerBot (2025) · Locomotion Beyond Feet (2026) CAD: Onshape · MakerWorld
🖨 Print Files (12)
torso_visual.stl
pelvis_link_visual.stl
left_hip_pitch_link_visual.stl
left_knee_link_visual.stl
left_ankle_pitch_link_visual.stl
right_hip_pitch_link_visual.stl
Required Hardware
| Item | Qty | Notes |
|---|---|---|
| Dynamixel XC330-M288-T (or XM430-W350-T) | 23 | Main servo actuators; XC330 for budget, XM430 for performance |
| Jetson Orin NX 8GB (or 16GB) | 1 | Main compute module |
| Custom TTL Power PCB v8 | 1 | PCB files in repo docs/_static |
| 4S 2200mAh LiPo Battery | 1 | 14.8V nominal |
| U2D2 USB-to-TTL adapter | 1 | For Dynamixel communication |
| OAK-D Lite Stereo Camera | 1 | Depth + stereo vision |
| 6-axis IMU (e.g., Bosch BNO085) | 1 | Attitude estimation |
| M2 / M3 / M4 screws & heat-set inserts | ~200+ | Various lengths; see assembly manual |
| 3D-printed structural parts | ~50 | PLA-CF recommended; plates on MakerWorld |
| Voltage tester display | 1 | Battery monitoring |
| E-Stop button | 1 | Safety cutoff for motors |
| Bambu X1C or compatible 3D printer | 1 | Recommended for tolerances |
| Electric screwdriver | 1 | Needed for M2/M3/M4 assembly |