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Repository

asimov-1

v1 of Asimov, an open-source humanoid robot

Menlo Research
Repository
Spec
Value
Height
1.2 m
Weight
35 kg
Degrees of Freedom
25 actuated + 2 passive

Specs

  • SpecValue
  • Height1.2 m
  • Weight35 kg
  • Degrees of Freedom25 actuated + 2 passive
  • Legs6 DOF x 2 + toe x 2
  • Arms5 DOF x 2 (shoulder pitch/roll/yaw, elbow, wrist yaw)
  • Torso1 DOF waist yaw, 10 W 4 ohm speaker, 6 DOF IMU
  • Head2 DOF neck (neck yaw, neck pitch), Quad microphone array, 2MP monocular camera
  • CAN Bus5 @ 1Mbps + 1 @ 500kbps
  • Onboard ComputeRaspberry Pi 5 (media + network) + Radxa CM5 (motion control)
  • Structural Materials7075 aluminium, MJF PA12 nylon
  • ActivityLoad
  • Squat5 kg
  • Bicep curl15 kg each arm
  • Lateral raise18 kg each arm
  • CategoryIncluded
  • HardwareAll BOM components (unassembled), power supply & cabling, spare parts
  • ComputeRPi edge board, motion control board, network board, power distribution board
  • SensorsMonocular camera, IMUs, mic, speaker, motor joint states
  • SafetyWireless E-Stop, safety guidelines
  • DocsQuick start guide, manual, DIY build videos
  • StatusItem
  • ✅Mechanical CAD — 7 subassemblies
  • ✅MuJoCo simulation model
  • ✅Electrical wiring harness
  • ✅Electrical schematics & PCB files
  • 🔜Asimov API
  • 🔜Locomotion policy
  • 🔜Mobile app

README

Asimov v1: Open-Source Humanoid Robot

License: CERN-OHL-S-2.0
License: Software

Asimov is an open-source humanoid robot that you can build, train and customize.

Asimov v1

Website ·
Manual ·
DIY Kit ·
3D Model ·
Discord ·
X ·
Forum

Asimov v1 is a 1.2 m, 35 kg biped with 25 actuated degrees of freedom. This repository contains the mechanical CAD, electrical CAD, simulation model, and onboard software to build, simulate, and customize Asimov v1.

Specifications

Spec Value
Height 1.2 m
Weight 35 kg
Degrees of Freedom 25 actuated + 2 passive
Legs 6 DOF x 2 + toe x 2
Arms 5 DOF x 2 (shoulder pitch/roll/yaw, elbow, wrist yaw)
Torso 1 DOF waist yaw, 10 W 4 ohm speaker, 6 DOF IMU
Head 2 DOF neck (neck yaw, neck pitch), Quad microphone array, 2MP monocular camera
CAN Bus 5 @ 1Mbps + 1 @ 500kbps
Onboard Compute Raspberry Pi 5 (media + network) + Radxa CM5 (motion control)
Structural Materials 7075 aluminium, MJF PA12 nylon
Activity Load
Squat 5 kg
Bicep curl 15 kg each arm
Lateral raise 18 kg each arm

Build your own Asimov

[!TIP]
Option 1: DIY Kit: Everything you need to build Asimov v1, unassembled. $499 deposit to reserve. $15,000 target price. Ships summer 2026. Pre-order →

[!NOTE]
Option 2: Self-source: Pull the BOM and fabricate everything yourself. Assembly Manual →

DIY Kit

Category Included Not Included
Hardware All BOM components (unassembled), power supply & cabling, spare parts Tools, hands
Compute RPi edge board, motion control board, network board, power distribution board 4G/5G modules
Sensors Monocular camera, IMUs, mic, speaker, motor joint states Lidar, 360 cam
Safety Wireless E-Stop, safety guidelines Battery
Docs Quick start guide, manual, DIY build videos —

Pre-order the Asimov v1 DIY Kit →

Self-source

Start with the repo-local fabrication manifest for the CAD-derived part inventory, then cross-reference the BOM and assembly manual for procurement details, sourcing, and fabrication notes.

Assembly Manual →

Fabrication manifest

The CAD-derived fabrication manifest can be checked locally:

python3 scripts/generate_fabrication_manifest.py --check

Roadmap

Status Item
✅ Mechanical CAD — 7 subassemblies
✅ MuJoCo simulation model
✅ Electrical wiring harness
✅ Electrical schematics & PCB files
🔜 Asimov API
🔜 Locomotion policy
🔜 Mobile app

Work with us

  • Build questions?: Ask in the forum or open a GitHub Issue for bugs and contributions.
  • Deploying Asimov?: Talk to us →
  • Supply chain partner?: If you manufacture actuators, structural components, or electronics and want to be part of the Asimov supply chain, reach out.
    [email protected]