LeRobot Humanoide: An Open Source 3D Printed Robot

We present an open-source bipedal robotic platform designed through a unified co-design methodology, integrating mechanical design, parameter optimization, and control. The robot is almost entirely fabricated using additive manufacturing, relying on 3D-printed structural components combined with a minimal set of off-the-shelf elements such as bearings and fasteners. This approach significantly reduces cost and manufacturing complexity, enabling rapid iteration and broad adoption within the research and open-source communities.

The platform has been developed end-to-end, from initial design to real-world deployment, with a particular focus on ensuring consistency between simulation and physical behavior. The system is integrated into a modern open-source robotics stack, allowing seamless interaction between simulation environments and real hardware, and supporting data collection and learning-based control pipelines.

We detail the design choices that enable structural robustness despite the constraints of additive manufacturing, as well as the control framework used to stabilize the system and explore locomotion behaviors. Preliminary experiments demonstrate the ability to execute controlled motions and maintain balance under specific conditions, providing a foundation for future locomotion capabilities.

By releasing the full mechanical design, control software, and simulation tools, this work aims to provide a reproducible and extensible baseline for bipedal robotics, lowering the barrier to hardware experimentation and accelerating progress in open embodied AI.