├── .github └── workflows │ └── main.yml ├── CONTRIBUTING.md ├── LICENSE ├── README.md └── gallery ├── acromonk.jpg ├── borinot.png ├── furuta-pendulum.jpg ├── jpl-open-source-rover.png ├── mabel.jpg ├── mevius.jpg ├── open-duck-mini.jpg ├── openscout.jpg ├── poppy-humanoid.jpg ├── thor.jpg ├── toddlerbot.jpg ├── trifinger.jpg ├── upkie.jpg └── wheelbot.jpg /.github/workflows/main.yml: -------------------------------------------------------------------------------- 1 | name: CI 2 | 3 | on: 4 | push: 5 | branches: [main] 6 | pull_request: 7 | branches: [main] 8 | 9 | jobs: 10 | lint: 11 | name: "Lint the readme" 12 | runs-on: ubuntu-latest 13 | 14 | steps: 15 | - name: "Checkout Git repository" 16 | uses: actions/checkout@v4 17 | with: 18 | fetch-depth: 0 19 | 20 | - name: "Awesome lint" 21 | run: | 22 | npx awesome-lint 23 | -------------------------------------------------------------------------------- /CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | # Adding a robot to the list 2 | 3 | Robots in this list should be open source **both** in hardware and software. If they don't qualify on one of the two criteria, we mark it out as a ❌. 4 | 5 | ### 🛠️ Open-source hardware 6 | 7 | Instructions and build files, such as 3D printing models, should be published under an [open-source hardware](https://en.wikipedia.org/wiki/Open-source_hardware) license. For instance: 8 | 9 | - [TAPR Open Hardware License](https://en.wikipedia.org/wiki/TAPR_Open_Hardware_License) 10 | - [CERN Open Hardware Licence](https://en.wikipedia.org/wiki/CERN_Open_Hardware_Licence) 11 | - Some Creative Commons licenses are OK, but not those with an NC clause at it goes against the [open-source definition](https://opensource.org/osd) 12 | 13 | Ideally, build tools can all be bought online. For example, 3D printing in ABS or PETG works, but in tungsten carbide is not OK for all. Similarly, relying on a low-cost MEMS IMU works for most, but not a space-grade IMU. 14 | 15 | ### 💻 Open-source software 16 | 17 | All the software necessary to make the robot move should be available under a permissive or copyleft software license. 18 | 19 | ## Submitting a PR 20 | 21 | Chime in with a [pull request](https://github.com/stephane-caron/awesome-open-source-robots/compare) if a robot checks all points above. The addition should be a single line with the following columns: 22 | 23 | - Project: project name, linked to the project page if there is one 24 | - Maker: name of the maker for a single person's work, as soon as it is a group, make sure the label is general enough to include all contributors 25 | - Hardware: link to hardware ressources (CAD files, 3D printing website, ...) 26 | - HW License: SPDX identifier for the hardware license (see above for checking that the license is open source) 27 | - Software: link to the robot's motion control software 28 | - SW License: SPDX identifier for the software license 29 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Creative Commons Legal Code 2 | 3 | CC0 1.0 Universal 4 | 5 | CREATIVE COMMONS CORPORATION IS NOT A LAW FIRM AND DOES NOT PROVIDE 6 | LEGAL SERVICES. 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Affirmer understands and acknowledges that Creative Commons is not a 120 | party to this document and has no duty or obligation with respect to 121 | this CC0 or use of the Work. 122 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Awesome Open Source Robots [![Awesome](https://awesome.re/badge.svg)](https://awesome.re) 2 | 3 | A curated list of awesome robots with open source software, open hardware, and in the best cases both. 4 | 5 | ## Contents 6 | 7 | * [Gallery](#gallery) 8 | * [Robots](#robots) 9 | * [Arms](#arms) 10 | * [Bipeds](#bipeds) 11 | * [Educational](#educational) 12 | * [Humanoids](#humanoids) 13 | * [Hybrid](#hybrid) 14 | * [Parallel](#parallel) 15 | * [Quadrupeds](#quadrupeds) 16 | * [Wheeled](#wheeled) 17 | * [Adding a Robot to the List](#adding-a-robot-to-the-list) 18 | 19 | ## Gallery 20 | 21 | | Solo | Upkie | OpenScout | TriFingerEdu | 22 | |--|--|--|--| 23 | | WheelBot | Poppy Humanoid | JPL Open Source Rover | Acromonk | 24 | | Borinot | Thor | Rotary Inverted Pendulum | MEVIUS | 25 | | Bolt | Open Duck Mini | MABEL | ToddlerBot | 26 | 27 | ## Robots 28 | 29 | ### Arms 30 | 31 | | Project | Maker | Hardware | HW License | Software | SW License | 32 | |---------|-------|----------|------------|----------|------------| 33 | | [Koch v1.1](https://github.com/jess-moss/koch-v1-1) | Jess Moss | [GitHub](https://github.com/jess-moss/koch-v1-1/tree/main/hardware) | Apache-2.0 | [GitHub](https://github.com/AlexanderKoch-Koch/low_cost_robot/blob/main/robot.py) | MIT | 34 | | [low\_cost\_robot](https://tau-robotics.com/robots) | Alexander Koch | [GitHub](https://github.com/AlexanderKoch-Koch/low_cost_robot/tree/main/hardware) | MIT | [GitHub](https://github.com/AlexanderKoch-Koch/low_cost_robot/tree/main/simulation) | MIT | 35 | | [Thor](http://thor.angel-lm.com/) | Ángel L.M. | [GitHub](https://github.com/AngelLM/Thor) | CC-BY-SA-4.0 | [GitHub](https://github.com/AngelLM/grbl/) | GPL-3.0 | 36 | 37 | ### Bipeds 38 | 39 | | Project | Maker | Hardware | HW License | Software | SW License | 40 | |---------|-------|----------|------------|----------|------------| 41 | | [Bolt](https://www.youtube.com/watch?v=x2jYQdjT_es) | [Open Dynamic Robot Initiative](https://open-dynamic-robot-initiative.github.io/) | [Instructions](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/blob/master/mechanics/biped_6dof_v1/README.md#biped-robot-6dof-v1) | BSD-3-Clause | [GitHub](https://github.com/orgs/open-dynamic-robot-initiative/repositories?for=bolt) | BSD-3-Clause | 42 | | [Duke Humanoid](http://www.generalroboticslab.com/blogs/blog/2024-09-29-dukehumanoidv1/index.html) | Duke University | [Wiki](https://sleepy-yoke-a21.notion.site/Duke-Humanoid-V1-38d54de887d1403a82f2367490c45b89) | MIT | [GitHub](https://github.com/generalroboticslab/DukeHumanoidv1) | MIT | 43 | | [Kayra](https://youtu.be/ZpM4JqCai9M) | [Ramin Assadollahi](https://github.com/assadollahi) | [GitHub](https://github.com/assadollahi/kayra/tree/main/STL) | BSD-3-Clause | [GitHub](https://github.com/assadollahi/kayra) | BSD-3-Clause | 44 | | [MABEL](https://hackaday.io/project/174129-mabel-a-boston-dynamics-inspired-balancing-robot) | [Raspibotics](https://github.com/raspibotics) | [GitHub](https://github.com/raspibotics/MABEL/tree/master/CAD) | GPL-3.0 | [GitHub](https://github.com/raspibotics/MABEL/) | GPL-3.0 | 45 | | [Open Duck Mini](https://github.com/apirrone/Open_Duck_Mini) | [Antoine Pirrone](https://github.com/apirrone) | [GitHub](https://github.com/apirrone/Open_Duck_Mini/tree/main/mini_bdx/robots/bdx) | Apache-2.0 | [GitHub](https://github.com/apirrone/Open_Duck_Mini/tree/main) | Apache-2.0 | 46 | | [TipTap](https://hackaday.io/project/163093-tiptap) | [Darren V Levine](https://hackaday.io/darrevlevine) | [GitHub](https://github.com/DarrenLevine/TipTap/tree/master/parts) | MIT | [GitHub](https://github.com/DarrenLevine/TipTap/tree/master/software) | MIT | 47 | | [Upkie](https://hackaday.io/project/185729-upkie-wheeled-biped-robot) | [Stéphane Caron](https://github.com/stephane-caron) | [Wiki](https://github.com/upkie/upkie/wiki) | Apache-2.0 | [GitHub](https://github.com/upkie/upkie) | Apache-2.0 | 48 | 49 | ### Educational 50 | 51 | | Project | Maker | Hardware | HW License | Software | SW License | 52 | |---------|-------|----------|------------|----------|------------| 53 | | [Rotary Inverted Pendulum](https://github.com/ferrolho/rotary-inverted-pendulum/tree/main) | [Henrique Ferrolho](https://github.com/ferrolho) | [Instructions](https://github.com/ferrolho/rotary-inverted-pendulum/blob/main/README.md), [Meshes](https://github.com/ferrolho/rotary-inverted-pendulum/tree/main/meshes) | MIT | [Arduino](https://github.com/ferrolho/rotary-inverted-pendulum/tree/main/RotaryInvertedPendulum-arduino), [Julia](https://github.com/ferrolho/rotary-inverted-pendulum/tree/main/RotaryInvertedPendulum-julia), [Python](https://github.com/ferrolho/rotary-inverted-pendulum/tree/main/RotaryInvertedPendulum-python) | MIT | 54 | 55 | ### Humanoids 56 | 57 | | Project | Maker | Hardware | HW License | Software | SW License | 58 | |---------|-------|----------|------------|----------|------------| 59 | | [NimbRo-OP2X](https://github.com/NimbRo/nimbro-op2) | NimbRo team | [GitHub](https://github.com/NimbRo/nimbro-op2/tree/master/NimbRo-OP2X/CAD) | ❌ CC-BY-NC-SA-3.0 | [Software](https://github.com/NimbRo/nimbro-op-ros?tab=License-1-ov-file#readme) | BSD-3-Clause | 60 | | [Poppy Ergo Jr](https://github.com/poppy-project/poppy-ergo-jr/) | Poppy project | [Hardware](https://github.com/poppy-project/poppy-ergo-jr/tree/master/hardware) | CC-BY-SA-4.0 | [Software](https://github.com/poppy-project/poppy-ergo-jr/tree/master/software) | GPL-3.0 | 61 | | [Poppy Humanoid](https://www.poppy-project.org/en/robots/poppy-humanoid/) | Poppy project | [Hardware](https://github.com/poppy-project/poppy-humanoid/tree/master/hardware) | CC-BY-SA-4.0 | [GitHub](https://github.com/poppy-project/poppy-humanoid/tree/master/software) | GPL-3.0 | 62 | | [ToddlerBot](https://toddlerbot.github.io/) | Stanford University | [MakerWorld](https://makerworld.com/fr/models/1068768#profileId-1058247) | ❌ CC-BY-NC-SA-4.0 | [GitHub](https://github.com/hshi74/toddlerbot) | MIT | 63 | 64 | ### Hybrid 65 | 66 | | Project | Maker | Hardware | HW License | Software | SW License | 67 | |---------|-------|----------|------------|----------|------------| 68 | | [Acromonk](https://github.com/dfki-ric-underactuated-lab/acromonk) | DFKI RIC Underactuated Lab | [GitHub](https://github.com/dfki-ric-underactuated-lab/acromonk/tree/main/hardware) | BSD-3-Clause | [GitHub](https://github.com/dfki-ric-underactuated-lab/acromonk/tree/main/software) | BSD-3-Clause | 69 | | [Borinot](http://www.iri.upc.edu/borinot) | HiDRo group | [Hardware](https://github.com/hidro-iri/Borinot/blob/main/hardware/README.md) | BSD-3-Clause | [GitHub](https://github.com/hidro-iri/Borinot/blob/main/software/README.md) | BSD-3-Clause | 70 | 71 | ### Parallel 72 | 73 | | Project | Maker | Hardware | HW License | Software | SW License | 74 | |---------|-------|----------|------------|----------|------------| 75 | | [TriFingerEdu](https://webdav.tuebingen.mpg.de/trifinger/) | Open Dynamic Robot Initiative | [Instructions](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/blob/master/mechanics/tri_finger_edu_v1/README.md#trifingeredu-v1) | BSD-3-Clause | [GitHub](https://github.com/orgs/open-dynamic-robot-initiative/repositories?for=trifinger_edu) | BSD-3-Clause | 76 | 77 | ### Quadrupeds 78 | 79 | | Project | Maker | Hardware | HW License | Software | SW License | 80 | |---------|-------|----------|------------|----------|------------| 81 | | [DIY hobby servos quadruped](https://hackaday.io/project/171456-diy-hobby-servos-quadruped-robot) | Miguel Ayuso Parrilla | [Hackaday.io](https://hackaday.io/project/171456/instructions) | ❌ CC-BY-NC-SA-3.0 | [GitHub](https://github.com/miguelasd688/4-legged-robot-model) | GPL-3.0 | 82 | | [MEVIUS](https://haraduka.github.io/mevius-hardware/) | JSK Robotics Laboratory | [Google Drive](https://drive.google.com/drive/folders/18i6CWtUG8fkY0rCcbjN5WiUYItjIX0WM) | MIT | [GitHub](https://github.com/haraduka/mevius) | MIT | 83 | | [mjbots quad](https://hackaday.io/project/167845-mjbots-quad) | Josh Pieper | [Fusion 360](https://myhub.autodesk360.com/ue2cb4876/g/shares/SH56a43QTfd62c1cd968fcf1b110c6f45fbb) | ❌ | [GitHub](https://github.com/mjbots/quad/) | Apache-2.0 | 84 | | [Solo](https://www.youtube.com/watch?v=VjpmQ9MsLKg) | Open Dynamic Robot Initiative | [Instructions](https://github.com/open-dynamic-robot-initiative/open_robot_actuator_hardware/blob/master/mechanics/quadruped_robot_12dof_v1/README.md#quadruped-robot-12dof-v1) | CC0-1.0 | [GitHub](https://github.com/orgs/open-dynamic-robot-initiative/repositories?for=solo) | CC0-1.0 | 85 | 86 | ### Wheeled 87 | 88 | | Project | Maker | Hardware | HW License | Software | SW License | 89 | |---------|-------|----------|------------|----------|------------| 90 | | [Hoverbot](https://www.youtube.com/watch?v=syxE1NEU7lw) | Josh Pieper |[GitHub](https://github.com/mjbots/hoverbot/blob/main/BOM.md) | Apache-2.0 | [GitHub](https://github.com/mjbots/hoverbot/) | Apache-2.0 | 91 | | [JPL Open Source Rover](https://open-source-rover.readthedocs.io/en/latest/) | Jet Propulsion Laboratory | [GitHub](https://github.com/nasa-jpl/open-source-rover#rover-build-roadmap) | Apache-2.0 | [GitHub](https://github.com/nasa-jpl/osr-rover-code) | Apache-2.0 | 92 | | [OpenScout](https://hackaday.com/2022/09/26/robotic-platform-is-open-sourced-and-user-friendly/) | Samuel Carter | [GitHub](https://github.com/cbedio/OpenScout/blob/main/Documentation/CAD_Files/Instruction_Manual/InstructionManual.pdf) | GPL-3.0 | [GitHub](https://github.com/cbedio/OpenScout) | GPL-3.0 | 93 | | [WheelBot](https://sites.google.com/view/wheelbot) | [A. René Geist](https://github.com/AndReGeist) | [GitHub](https://github.com/AndReGeist/wheelbot-v2.5) | GPL-3.0 | [GitHub](https://github.com/AndReGeist/wheelbot-v2.5/tree/main/firmware) | GPL-3.0 | 94 | 95 | ## Adding a Robot to the List 96 | 97 | New robots are welcome to the list, as long as they are [open source](CONTRIBUTING.md) in both hardware and software. 98 | -------------------------------------------------------------------------------- /gallery/acromonk.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/stephane-caron/awesome-open-source-robots/447b8758aa5bba9826334b2b818cd8ecec68425c/gallery/acromonk.jpg -------------------------------------------------------------------------------- /gallery/borinot.png: -------------------------------------------------------------------------------- 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