Open Source Robot Hardware

An open project sharing a 3D printable harmonic drive style gearbox, the kind used in precise robot joints.

Manuals and specs for CubeMars' popular quasi-direct-drive motors used in robot arms and legs.

Two fully documented 3D printable cycloidal gearbox designs for adding gear reduction to a motor.

A 3D printable cycloidal gearbox design for building smoother, stronger geared robot joints.

ROS tools and packages for setting up and controlling many Dynamixel servos at once.

Notes and design overview explaining the quasi-direct-drive actuator used in MIT's Mini Cheetah robot.

C++ drivers for controlling T-Motor actuators of the type used in MIT's Mini Cheetah robot.

An open source compact brushless motor controller built for robot legs and arms needing precise torque.

An open source C++ and Python toolkit for controlling MyActuator RMD series robot motors over CAN.

Popular open source high performance motor controller firmware for driving brushless motors precisely.

The open circuit board designs for the ODrive motor controller, if you want to build your own.

An open source 3D printed quasi-direct-drive actuator, the type of motor used in robot dog legs.

The official open software kit for programming Dynamixel smart servo motors used in many robot arms.

The full documentation hub for ROBOTIS motors, arms, and robot kits, with wiring and setup guides.

An easy to use open source library for controlling small brushless motors precisely with an Arduino.

An open source library for talking to T-Motor and CubeMars AK series robot leg and arm motors.

A Python library for controlling AK-series T-Motor actuators over a CAN bus connection.

Widely used open source motor controller firmware, originally for e-skateboards, now common in robots.

Open circuit board designs for building your own VESC motor controller.

Official ROS software for controlling the Allegro Hand, a four-fingered research robot hand.

The full documentation wiki for setting up and using the Allegro robot hand.

An open source, low cost humanoid-style robot hand meant for research into grasping and manipulation.

The mechanical parts, bill of materials, and build guide for making the open source DexHand.

ROS 2 description files for simulating and controlling the DexHand version 2 robot hand.

A low cost, human-like robot hand with many moving fingers, built for robot learning research.

The official software for controlling version one of the LEAP dexterous robot hand.

3D models for the Yale OpenHand Project's gripper designs, ready to adapt and print.

A ROS package for driving Yale OpenHand grippers from Python code.

A simple open source two-finger gripper made to fit SO-ARM style robot arms.

Official ROS packages for controlling Robotiq's adaptive robot grippers.

An open two-finger gripper with a built-in camera mount, designed for the SO-101 robot arm.

A shared library of open designs, guides, and parts lists for building soft, squishy robot grippers.

A collection of open source robot hand and gripper designs made simple to 3D print and assemble.

A curated list from Adafruit of open source robot arms you can build yourself.

A curated GitHub list of open source robots, from robot arms to legged robots and humanoids.

A curated list of research papers, hardware, and open source designs for dexterous robot hands.

A curated list of tactile sensors, labs, and companies working on robot touch sensing.

A curated list of open source tactile sensor hardware, data, and research for robot touch sensing.

A community-run list of open source robot hardware and parts that work with Hugging Face's LeRobot software.

A community site collecting links and tutorials for open source robot hardware projects.

The official searchable list of hardware projects, including robots, certified as open source by OSHWA.

A large, searchable collection of free 3D printable robot arm designs shared by makers.

A database of real, buildable open source robots with build cost and difficulty information.

A full size, 3D printable humanoid robot you can build yourself for about five thousand dollars.

An open source small humanoid biped robot design for walking and balance experiments.

An open source humanoid robot platform from Duke University for studying walking and balance.

A full size open source humanoid robot you 3D print piece by piece, one of the oldest DIY humanoid projects.

An open source full size humanoid robot project from K-Scale Labs, built to be affordable.

An open two-legged walking robot project built around a Raspberry Pi control system.

An open source full size humanoid robot built for RoboCup soccer and general humanoid research.