Build a robot: 34 open-source projects, with real costs

Image: Rhoban team, LaBRI (University of Bordeaux)

Build: DIY parts
Level: Intermediate

~30 printed parts + 19 Dynamixel XL330 servos

01 · Humanoids & bipedal

Microban

A 30 cm, 19-joint walking humanoid from the Rhoban team in Bordeaux.

$550–625

From the project BOM

Once it’s built, you can

Walk it with a keyboard or gamepad
Record your own moves and motions
Run Python on its onboard Raspberry Pi Zero 2W
Use it as a small platform for humanoid locomotion research

Pi Zero 2WDynamixel XL330Python

Image: loongOpen / OpenLoong

Build: DIY parts
Level: Advanced

Printed parts + carbon fibre + machined aluminium

02 · Humanoids & bipedal

MiniLoong

A 55 cm, 22-joint humanoid from OpenLoong, built for RL walking and learning from demonstration.

$2.3k–2.6k

Summed from the BOM, converted from ¥. Machining is extra

Once it’s built, you can

Stand and walk with an RL policy (ONNX, Isaac sim2sim scripts included)
Transfer zero-shot from sim with the provided URDF
Train ACT, diffusion and VLA policies for arm manipulation
Collect data with dual-arm leader–follower teleoperation

Damiao CAN motorsOdroid / JetsonIsaac · ONNX

Image: Poppy Project (Inria Flowers)

Build: DIY parts or kit
Level: Intermediate

Printed body + 25 Dynamixel actuators · ~7 h to assemble

03 · Humanoids & bipedal

Poppy Humanoid

A 25-actuator 3D-printed humanoid from Inria’s Poppy project, made for research and classrooms.

$8–9k

Stated in the README. About 60% of it is the Dynamixels

Once it’s built, you can

Program it in Python with pypot, even from Jupyter notebooks
Flash the ready-made Raspberry Pi image
Research motion, learning and human–robot interaction
Teach robotics in a classroom

Dynamixel MX / AXRaspberry Pipypot

Image: Otto DIY

Build: Kit or DIY
Level: Beginner

Printable body (or buy it printed) · only a screwdriver needed

04 · Humanoids & bipedal

Otto DIY

A tiny 3D-printable Arduino biped that walks, dances and beeps.

$35–160

Estimate from retailer kit prices, which vary a lot by shop

Once it’s built, you can

Walk, dance and gesture
Dodge obstacles with its ultrasonic eyes
Play sounds and music
Program it with Blockly, Arduino or MicroPython

Arduino Nano4× SG90 servosBlockly

Image: pib.rocks

Build: Kit + printing
Level: Intermediate

~11 kg of PETG · 150–250 h of printing

05 · Humanoids & bipedal

pib

A 3D-printed humanoid upper body with AI and ROS 2 built in, from isento GmbH.

from ~$3,850

Estimate: hardware kit + printed parts, converted from €

Once it’s built, you can

Program moves with Blockly, no coding needed
Go deeper with Python and ROS 2
Add AI: depth camera, voice and LLM agents
Work with its digital twin in simulation

Raspberry Pi 5OAK-D LiteROS 2

Image: Berkeley Humanoid Lite project (UC Berkeley)

Build: DIY parts
Level: Advanced

Modular printed gearboxes + widely available parts

06 · Humanoids & bipedal

Berkeley Humanoid Lite

A sub-$5,000 humanoid with modular 3D-printed gearboxes, from UC Berkeley.

under $5k

The README says “sub-$5,000”. No itemised BOM

Once it’s built, you can

Train walking policies in Isaac Lab
Check them in sim2sim, then deploy to the real robot
Drive it with motion capture
Teleoperate it for manipulation

Isaac LabURDF · MJCFPython

Image: Zeroth Robotics

Build: DIY parts
Level: Intermediate

Printed body + Feetech servos

07 · Humanoids & bipedal

Zeroth-01 Bot

A hackable 3D-printed humanoid with an open SDK and a sim-to-real RL pipeline.

from $350

The README says “BoM starts at $350”. Still marked public beta

Once it’s built, you can

Walk with basic locomotion, plus vision and speech
Control the servos from Python
Calibrate and run diagnostics from the command line
Train RL policies in sim, from walking to imitating people

Feetech servosKOS · PythonK-Sim RL

Image: Hugging Face, LeRobot Humanoid

Build: DIY parts
Level: Advanced

Printed legs and torso + RobStride actuators

08 · Humanoids & bipedal

LeRobot Humanoid

An open 3D-printed biped (legs and torso) from Hugging Face, with BOM and wiring docs.

$2.6k

README cost estimate: $2,580 parts, $2,636 with filament. Prices are indicative

Once it’s built, you can

Reproduce the biped from the included CAD and BOM
Follow the assembly docs and wiring maps
Commission the motors with the included tools
Hook it up to the separate runtime repo for control

RobStride actuatorsRaspberry Pi 5CAN FD

Image: ToddlerBot team (Stanford)

Build: DIY parts
Level: Advanced

Printed parts (files on MakerWorld) + motors

09 · Humanoids & bipedal

ToddlerBot

A low-cost open-source humanoid for learning research, with the whole stack in Python.

Cost unclear

The README links a BOM but states no total

Once it’s built, you can

Train RL and diffusion policies with the included code
Make reference motions with the Keyframe app
Run multi-skill whole-body locomotion over obstacles
Deploy everything to the real robot

PythonMuJoCo MJXRL · DP

Image: MangDang Robotics Club

Build: Kit
Level: Intermediate

No printing · legs can come pre-assembled

10 · Quadrupeds

Mini Pupper

A desktop robot dog kit based on Stanford Pupper, with ROS 2 support.

$605–756

Kit price (Mini Pupper 2 listings)

Once it’s built, you can

Run ROS 2 and micro-ROS
Map rooms and navigate with SLAM + Nav2 (optional lidar)
Train RL walking in MuJoCo or Isaac and deploy it
Add a camera for OpenCV projects

Raspberry PiESP32ROS 2

Image: Petoi

Build: Kit
Level: Beginner

No printing · 40–90 minutes to assemble

11 · Quadrupeds

Petoi Bittle

A palm-sized robot dog kit running the OpenCat framework.

$269–379

Kit price. Often backordered

Once it’s built, you can

Walk, run, jump and backflip with 35+ built-in skills
Use voice commands (Bittle X)
Code with blocks, Python or C++
Add a Raspberry Pi for ROS and navigation

ESP32 / ATmegaOpenCatPython

Image: Stanford Student Robotics

Build: DIY parts + fabrication
Level: Advanced

Waterjet + CNC + printed parts · taps and drills

12 · Quadrupeds

Stanford Doggo

A fast 8-motor quadruped that trots, jumps and does backflips. The project is now end-of-life.

$2.8–3.1k

From the project’s BOM sheet (±5%)

Once it’s built, you can

Trot, bound and pronk
Jump and backflip
Tune gait control with Jacobian torque mapping
Use it as a quasi-direct-drive legged research platform

Teensy 3.5ODriveT-motor 5212

Image: SpotMicroAI community

Build: DIY parts
Level: Intermediate

All printed in PLA · about a week of printing

13 · Quadrupeds

SpotMicro

A 12-servo, 3D-printed mini Spot. The design behind a big community.

$180–225

Estimate from one community parts list

Once it’s built, you can

Sit, stand and walk with a trot gait (ROS)
Drive it with a PS4 or Xbox gamepad
Map the room with an RPLidar and 2D SLAM
Try RL gaits in PyBullet

Pi / JetsonPCA968512× servos

Image: Adham Elarabawy

Build: DIY parts + custom PCB
Level: Advanced

28 printed parts + a custom PCB

14 · Quadrupeds

OpenQuadruped

A 12-joint printed quadruped with a custom servo-driver board and ROS.

Cost unclear

Its BOM sheet is gone, so there’s no honest number

Once it’s built, you can

Generate gaits with 12-DoF Bézier curves
Control body pose in 6 axes (pitch and roll are still in progress)
Use custom 3-joint leg inverse kinematics
Simulate in ROS, Gazebo and RViz

TeensyCustom PCBROS

Image: haruto89610

Build: DIY parts
Level: Advanced

Printed gears and actuator housings

15 · Quadrupeds

Puguette

A big (80 cm) quadruped with 3D-printed planetary-gearbox BLDC actuators.

Cost unclear

The repo lists parts but no prices

Once it’s built, you can

Build and bench-test the 55 Nm geared BLDC actuators
Run a Jetson Nano + Teensy + ODrive control chain
Reprint the gears to try other ratios
Use it as a base for locomotion research (software still in progress)

Jetson NanoTeensy 3.6ODrive

Image: Stanford Student Robotics (CC Max Morse)

Build: DIY parts or kit
Level: Intermediate

Raspberry Pi 4 + PWM servos · assembly and wiring

16 · Quadrupeds

Stanford Pupper

A Raspberry Pi quadruped from Stanford Student Robotics that hops, trots and runs.

$900–1,000

Pupper docs: about this much buying the parts yourself. Kits exist

Once it’s built, you can

Drive it with a PS4 controller
Make it trot and hop
Calibrate the legs with the guide
Read the mechanical design docs and modify it

Raspberry Pi 4PWM servosPS4 controller

Image: dorianborian (Sesame Robot)

Build: DIY parts
Level: Intermediate

Printed PLA body + 8 servos + ESP32

17 · Quadrupeds

Sesame Robot

A tiny ESP32 quadruped with an expressive face, built for $50–60 in parts.

$50–60

The README says “$50–60 in hardware components”. You need a 3D printer and basic soldering

Once it’s built, you can

Show expressions on its OLED face
Play walking, waving, dancing and pointing animations
Control it over WiFi through a JSON API
Compose your own moves in Sesame Studio

ESP32Arduino IDEOLED face

Image: The Robot Studio

Build: DIY parts
Level: Intermediate

PLA+ printed · ~220 mm print bed

18 · Arms & manipulation

SO-ARM100 / 101

A 6-joint 3D-printed arm built for Hugging Face LeRobot. SO-101 is the newer version.

$122–230

From the project BOM: one arm $122, leader + follower $230

Once it’s built, you can

Teleoperate it with a leader arm
Record demo datasets and share them on the Hugging Face Hub
Train imitation-learning policies and run them on the arm
Put it on LeKiwi for a mobile manipulator

Feetech STS3215LeRobotPLA+

Image: Waveshare

Build: Ready-made
Level: Beginner

No printing · arrives assembled

19 · Arms & manipulation

RoArm-M2

A ready-built 4-joint desktop arm with Wi-Fi control, an ESP32 and ROS 2.

from $180

Store price for the M2-S. The Pro costs more

Once it’s built, you can

Control it from a phone browser over its own Wi-Fi
Run ROS 2 Humble with MoveIt 2
Program it over UART or HTTP from Python or Arduino
Record and replay moves, or pair two for wireless leader–follower

ESP32ST3215 servosROS 2

Image: ROBOTIS

Build: Kit
Level: Intermediate

Kit with a plastic frame · hand assembly

20 · Arms & manipulation

OpenMANIPULATOR-X

ROBOTIS’s 5-joint Dynamixel arm with full ROS support.

$1,629

Kit price. Power supply and controller are extra

Once it’s built, you can

Control it from ROS 2 with MoveIt
Simulate it in Gazebo or MuJoCo
Teleoperate it by keyboard or gamepad
Mount it on a TurtleBot3

Dynamixel XOpenCR / U2D2ROS 2

Image: SIGRobotics-UIUC

Build: DIY parts
Level: Advanced

Printed base + arm

21 · Arms & manipulation

LeKiwi

A mobile manipulator: a 3-wheel omni base carrying an SO-101 arm.

$482–499

From the project BOM, including the leader + follower arms

Once it’s built, you can

Drive the base with the keyboard and the arm with a leader arm
Record two-camera datasets with LeRobot
Train a policy and run it on the robot
Replay recorded episodes

Raspberry Pi 5SO-101LeRobot

Image: jess-moss (Koch v1.1), design by Alexander Koch

Build: DIY parts
Level: Intermediate

Printed parts + Dynamixel servos + a driver board

22 · Arms & manipulation

Koch v1.1

A low-cost leader-and-follower arm pair on Dynamixel servos, improved to be easier to assemble.

$477

README parts tables, US prices: $199 leader + $278 follower. Printing extra

Once it’s built, you can

Teleoperate the follower with the leader arm
Program it with LeRobot
Pick objects up off the ground
Practise with LEGO-sized blocks

DynamixelWaveshare driver boardLeRobot

Image: Enactic (OpenArm)

Build: DIY parts
Level: Advanced

Open CAD, STL and BOM · two human-scale arms

23 · Arms & manipulation

OpenArm

A human-scale open-source arm for teleoperation and imitation learning.

$6.5k

The README says $6,500 for a complete bimanual system

Once it’s built, you can

Teleoperate it
Collect real-world data for contact-rich tasks
Train imitation-learning policies
Try ideas in simulation first

Open CAD + BOMTeleoperationSimulation

Image: Annin Robotics

Build: Kit
Level: Advanced

CNC aluminium + printed covers + steppers

24 · Arms & manipulation

Annin AR4

A 6-axis desktop arm with an aluminium frame and stepper motors, from Annin Robotics.

from $1.9k

Annin’s site: $1,189 kit + $699 motors. Covers and gripper are extra

Once it’s built, you can

Run a 6-axis arm on your desk
Reach about 24.75 in with a 4.15 lb payload
Repeat moves to about 0.25 mm
Program it with the Python HMI or ROS 2

Stepper motorsPython HMIROS 2

Image: Source Robotics (PAROL6)

Build: DIY parts
Level: Intermediate

Printed parts + a BOM you source yourself

25 · Arms & manipulation

PAROL6

A 3D-printed 6-axis desktop arm styled after industrial robots, with BOM and STLs.

Cost unclear

The README links a BOM but states no total

Once it’s built, you can

Control it from a Python API
Simulate it in ROS 2 / MoveIt
Build on community GUIs and vision demos
Follow the full build guide

Python APIROS 2 · MoveItPrinted parts

Image: AngelLM (Thor)

Build: DIY parts
Level: Intermediate

Printed gears and parts + steppers + Arduino Mega

26 · Arms & manipulation

Thor

A 3D-printable arm you move with G-code, for under €350 in hardware.

under €350

The README says “hardware cost below 350€”

Once it’s built, you can

Move it with G-code, like a 3D printer
Run it under ROS 2 (Docker setup included)
Use it to teach robotics courses
Print and modify the parts yourself

Arduino MegaG-codeROS 2

Image: ROBOTIS

Build: Kit
Level: Intermediate

No printing · assemble from a kit

27 · Mobile robots

TurtleBot3 Burger

The classic small ROS robot with a lidar, made for learning and research.

$758–784

Kit price. Stock varies

Once it’s built, you can

Build maps with Cartographer SLAM
Navigate on its own with Nav2
Simulate it in Gazebo
Race it through AutoRace, or add the OpenMANIPULATOR-X arm

Raspberry Pi 4OpenCRROS 2 · LiDAR

Image: Intelligent Systems Lab (isl-org)

Build: DIY parts
Level: Intermediate

Printed body (or cardboard) · some soldering

28 · Mobile robots

OpenBot

Turn an Android phone into the brain of a ~$50 wheeled robot.

~$50

The README’s claim, phone not included

Once it’s built, you can

Drive it from a game controller or the app
Make it follow a person
Run autonomous navigation on the phone
Train your own driving policy

Android phoneArduino NanoTensorFlow Lite

Image: Duckietown

Build: Kit
Level: Beginner

No printing · kit or pre-assembled

29 · Mobile robots

Duckiebot

Duckietown’s little self-driving car with a camera and a Jetson brain.

$429–749

Kit price. Often sold out

Once it’s built, you can

Follow lanes and drive on Duckietown tiles
Work through the learning courses on perception, control and planning
Train agents in the simulator, then deploy them to the robot
Detect AprilTags for localisation and signs

JetsonDockerROS · Python

Image: Vector Wang (XLeRobot)

Build: DIY parts
Level: Intermediate

Printed parts + servos + a mobile base · under 4 h

30 · Mobile robots

XLeRobot

A dual-arm household robot on a wheeled base, from $660 and under 4 hours to assemble.

from $660

README: about $660 for the basic build. Excludes printing, tools, shipping, taxes

Once it’s built, you can

Drive it with a keyboard, Xbox pad or Joy-Con
Simulate it with URDF models and Quest 3 VR
Follow the tutorial to train a VLA model
Try household-chore demos

LeRobotPythonMuJoCo

Image: Donkey Car project (autorope)

Build: DIY parts
Level: Intermediate

RC car + Raspberry Pi + camera · about 2 h

31 · Mobile robots

Donkey Car

A small RC-style self-driving car you train with deep learning, built on a Raspberry Pi.

$250–300

Donkey Car docs: parts cost about this, about 2 hours to assemble

Once it’s built, you can

Train it to drive laps with deep learning
Follow a GPS path or use computer vision
Drive it with a game controller, RC remote or phone
Practise in the simulator first

Raspberry PiPythonTensorFlow

Image: NVIDIA

Build: Kit or DIY
Level: Intermediate

Add-on parts for a Jetson Nano · third-party kits exist

32 · Mobile robots

NVIDIA JetBot

NVIDIA’s educational AI robot on a Jetson Nano, programmed from your browser.

under $150

The README says “less than $150” as an add-on. The Jetson Nano itself is extra

Once it’s built, you can

Follow tutorials from basic motion to AI collision avoidance
Program it interactively from your web browser
Build your own AI projects on it
Start from a third-party kit if you prefer

Jetson NanoPythonWeb browser

Image: Roger Cheng (Sawppy the Rover)

Build: DIY parts
Level: Intermediate

Printed parts + aluminium extrusions + serial servos

33 · Mobile robots

Sawppy the Rover

A 3D-printed model of the Mars rovers, built for about $500 in parts.

~$500

The README says the budget was $500, with a price breakdown

Once it’s built, you can

Copy the rocker-bogie suspension of Curiosity and Perseverance
Climb obstacles nearly twice its wheel diameter
Control it from an Arduino, a browser or an RC receiver
Run it with ROS or ROS 2

ArduinoRaspberry PiROS 2

Image: NASA JPL

Build: DIY parts
Level: Advanced

Aluminium frame + ten motors + a custom PCB · soldering

34 · Mobile robots

NASA JPL Open Source Rover

A six-wheel rocker-bogie rover for research and teaching, designed at NASA JPL.

~$1.6k

README: total cost about $1,600

Once it’s built, you can

Drive over rough terrain with all six wheels on the ground
Steer with Ackermann-style six-wheel steering
Reach about 1.6 m/s, depending on the motors
Control it through anything a Raspberry Pi supports

Raspberry PiPythonCustom PCB

Build a robot.

Microban

MiniLoong

Poppy Humanoid

Otto DIY

pib

Berkeley Humanoid Lite

Zeroth-01 Bot

LeRobot Humanoid

ToddlerBot

Mini Pupper

Petoi Bittle

Stanford Doggo

SpotMicro

OpenQuadruped

Puguette

Stanford Pupper

Sesame Robot

SO-ARM100 / 101

RoArm-M2

OpenMANIPULATOR-X

LeKiwi

Koch v1.1

OpenArm

Annin AR4

PAROL6

Thor

TurtleBot3 Burger

OpenBot

Duckiebot

XLeRobot

Donkey Car

NVIDIA JetBot

Sawppy the Rover

NASA JPL Open Source Rover

Before you buy anything