UPSTREAM RIGHTS (NONCOMMERCIAL; CONFLICTING FOLDER NOTICES)
Rhoban/microban, commit 0c814b4b8cc9d0a2f650a4ecb5004304f6ccc6c2 (release v1.0.0), Microban by Marc Duclusaud. cad/LICENSE: "All files in this directory (STL and STEP files) are licensed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License (CC BY-NC-SA 4.0)" (https://creativecommons.org/licenses/by-nc-sa/4.0/) and "Commercial use requires prior written permission from the author." The root LICENSE licenses the cad/ folder under CC BY-NC-SA 4.0 and "All other folders and files" under GPL-3.0; the previewed src/model/mjcf/robot.xml carries an Apache License 2.0 header and states it was generated using onshape-to-robot from Onshape document d424992a192a8ce34ffce163 (version d1df625a85f2de984257464b). The README requires a commercial license to manufacture, distribute or sell products based on Microban.
Under the user decision of October 4, 2026 for explicit noncommercial licenses, Open Source Robotics hosts the unchanged robot.xml, scene.xml and the 25 referenced STL meshes with the repository LICENSE, cad/LICENSE, README and CITATION.cff in a ZIP bundle, and a triangulated preview of robot.xml at its reference pose, under the most restrictive terms (CC BY-NC-SA 4.0), with attribution to Marc Duclusaud and shared alike. The model contains purchased components (DYNAMIXEL XL330 servos, horn and idle-cap dummies, M2 screws, battery, switch) whose third-party terms are unknown. No commercial-use, manufacturing or redistribution clearance is claimed.
--- UPSTREAM microban/cad/LICENSE ---
Microban hardware design files (CAD)
Copyright 2026 Marc Duclusaud
All files in this directory (STL and STEP files) are licensed under the
Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International
License (CC BY-NC-SA 4.0).
SPDX-License-Identifier: CC-BY-NC-SA-4.0
Because these are binary files that cannot carry an embedded notice, this
file serves as the license notice for the whole directory.
Source Location: https://github.com/MarcDcls/microban
You are free to share and adapt these files for non-commercial purposes,
provided you give appropriate credit and distribute your contributions
under the same license. Commercial use requires prior written permission
from the author.
The full text of the CC BY-NC-SA 4.0 license is available in the LICENSE
file at the root of this repository, and at
https://creativecommons.org/licenses/by-nc-sa/4.0/
--- UPSTREAM microban/README.md ---
# Microban: A Compact, Fully 3D-Printable Open-Source Humanoid Robot
[](https://www.gnu.org/licenses/gpl-3.0.html)
[](https://creativecommons.org/licenses/by-nc-sa/4.0/)
[](https://doi.org/10.5281/zenodo.20784789)
Welcome to the **Microban** project!
Microban is a \~30cm tall humanoid robot designed specifically for makers, students, and robotics enthusiasts. The core philosophy behind this project is accessibility: the total cost of the robot is kept relatively low ($550-$600), all components are 3D-printable or easily sourced, and the assembly process is guided with detailed instructions. This means that anyone with a standard desktop 3D printer and a few basic tools should be able to build their own Microban from scratch.
The idea behind Microban is to provide a platform for learning and experimentation in robotics. By making the design open, users are encouraged to modify, improve, and share their own versions of the robot. Whether you're interested in programming, mechanical design, or electronics, Microban offers a hands-on experience that can help you develop your skills in a fun and engaging way.
The main features of Microban are:
* π€ **100% Open-Design**: Mechanics, 3D models, and documentation are entirely free to use and modify.
* π§ **DIY & Maker Friendly**: Guided assembly instructions, fully 3D-printable parts and cheap components.
* π **Compact Size**: Microban is only 30cm tall and can be recharged via USB-C, making it the perfect desktop companion for robotics experimentation.
To see the robot take its first steps, check out this YouTube video: [https://youtu.be/1pnFrT_jfXQ](https://youtu.be/1pnFrT_jfXQ)
---
## π οΈ Components Overview
Here is a quick overview of what is in the robot:
| Component | Quantity | Description / Notes |
| :--- | :---: | :--- |
| **3D Printed Parts** | ~30 | Check the CAD files. Recommended material is PLA. |
| **Servo Motors** | 19 | Dynamixel XL330-M288-T servomotor. |
| **Microcontroller**| 1 | Raspberry Pi Zero 2W. |
| **Board Hat** | 1 | Pollen RPI Robot Hat for Raspberry Pi Zero 2W. |
| **Power Supply** | 2 | 18650 3.7V Lithium-ion Batteries. |
| **Battery Holder** | 1 | 2x18650 Battery Holder. |
| **USB-C Charger** | 1 | Standard USB-C charger. |
| **BMS** | 1 | Battery Management System for 2x18650 batteries. |
| **Plastic Screws**| ~200 | Standard plastic screws for assembly. |
| **Steel & POM Shims** | 12 | Alternative to needle bearings for motors without idler horns. |
A full, detailed Bill Of Materials (BOM) with links to purchase and prices is available [here](docs/bom.md)
---
## π CAD Files
The CAD files for Microban are in the `cad/` directory of this repository. It contains all the printable parts in both STL and STEP formats.
A visual representation of the 3D model can be found in the [Onshape assembly](https://cad.onshape.com/documents/d424992a192a8ce34ffce163/v/7de3e6e40f0e1185d169e6d9/e/b34620a03cc3a684006c5867?renderMode=0&uiState=6a2fccab8e6d9214d2644ca7). This interactive assembly allows you to explore the robot's design in detail, providing a better understanding of how the parts fit together. It also serves as a reference for assembly, helping you visualize the final product and ensuring that you can correctly identify each component during the build process.
An emphasis is placed on the range of motion of the 19 degrees of freedom of the robot. It allows for a wide variety of movements, making it suitable for various applications. Stops are integrated into the design to control which self-collisions are likely to occur, ensuring that the robot can move safely without damaging itself. The design also takes into account the cable routing for the servo motors, ensuring that the wires are neatly organized and do not interfere with the robot's movements.
---
## π Getting Started
To build your own Microban, you will need to follow these steps:
1. **Source the hardware:** Gather the components listed in the [BOM](docs/bom.md). Links are provided to purchase each item, but feel free to source them from your preferred suppliers. Some components, like the Dynamixel motors, may have specific distributors depending on your location, which can impact the total cost.
2. **Print the parts:** Head over to the `cad/stl/` folder and print all the parts using a 3D printer. The recommended filament is PLA with a layer height of 0.12mm and a 15% infill. Some parts require specific orientations for printing to ensure strength and proper fit. Refer to the [Printing Guide](docs/printing.md) for detailed instructions on how to print each part correctly.
3. **Assemble:** Follow our step-by-step [Assembly Guide](docs/assembly.md) to put the mechanics together.
4. **Deploy the software:** Once the robot is assembled, you can deploy the software on the Raspberry Pi Zero 2W by following the instructions in the [Deployment Guide](docs/deployment.md).
5. **Drive it:** See the [Usage Guide](docs/usage.md) to run the robot, control it with the keyboard or a gamepad, and learn how to add your own moves.
---
## π€ Contributing
This project is community-driven! Whether it's designing a new head, writing code, or simply fixing typos in the documentation, contributions are always welcome.
Feel free to fork the repository, make your changes, and submit a Pull Request. If you build your own Microban, please share it in the Discussions tab!
---
## π License & Commercial Use
This project uses a dual-licensing model to keep the project open for the community while protecting the author's work from unauthorized commercial exploitation.
* **Hardware & Documentation (CAD, STL, Docs):** Licensed under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/).
* **Software (Source Code):** Licensed under [GNU GPL v3](https://www.gnu.org/licenses/gpl-3.0.html).
To summarize the licenses:
* **Hobbyists, Makers & Researchers:** You are **100% free** to download, 3D-print, build, modify, and hack Microban for your personal, educational, or academic research use. If you share your modifications, you must release them under the same licenses.
* **Commercial Entities & Companies:** You **cannot** sell this robot, sell parts/kits, or use this hardware/software design in commercial products without prior explicit written permission.
### β οΈ Commercial Inquiries
If you wish to manufacture, distribute, or sell products based on Microban (including selling pre-printed 3D parts, electronics kits, or fully assembled robots), you **must acquire a Commercial License**.
For licensing terms, commercial partnerships, or inquiries, please reach out to me on [LinkedIn](https://www.linkedin.com/in/marc-duclusaud/).
---
## π Citation
If you use Microban in your research, please cite it as follows:
```bibtex
@software{mduclusaud-microban,
author = {Duclusaud, Marc},
doi = {10.5281/zenodo.20784789},
month = jun,
title = {{Microban: A Compact, Fully 3D-Printable Open-Source Humanoid Robot}},
url = {https://github.com/MarcDcls/microban},
howpublished = "\url{https://github.com/MarcDcls/microban}",
version = {1.0.0},
year = {2026}
}
```
---
