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 — virgilebatto@gmail.com (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. Credit and star the upstream repos if this helps your project.

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

Follow this preferred order for a new build:

1. Order all buy parts from hardware/bom/bom_buy.csv first — long-lead items (motors, bearings, shoulder screws) can take weeks.
2. Print all required STL parts per the printing guide at docs/manufacturing/printing_guide.md (target 3–4 kg PLA+; orientation matters for structural leg parts).
3. Commission and check every motor before assembly:
   • Follow docs/electronics/motor_commissioning.md
   • Run python hardware/config/commission_motor.py wizard --channel can0
   • Do NOT start mechanical assembly before protocol/ID commissioning and a motion check on every actuator.
4. Assemble mechanical subassemblies using docs/assembly/assembly_guide.md.
5. Run wiring and first power-on checks:
   • Follow docs/electronics/check_wiring.md then docs/electronics/first_power_on.md
   • Validate wiring continuity before connecting high-current source; use a current-limited bench supply for initial checks.

Safety

A physical emergency power cutoff (E-stop) is required — keep it accessible at all times during powered operation.

Key rules from docs/safety.md:

• Bring up logic power before actuator power.
• Confirm CAN heartbeat and watchdog behavior before enabling torque.
• Enable actuators only after joint limit and zero-position checks pass.
• Never run the robot unattended during first powered-motion passes.
• Keep clear of moving joints during bring-up; RobStride motors deliver significant torque.

Do not start mechanical assembly before motor commissioning is complete — protocol or ID errors after assembly require disassembling the leg to fix.

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. If this build helps you, please star the source repos and reach out to the creator directly at virgilebatto@gmail.com. The humanoid robotics community grows when open hardware gets the recognition it deserves.