Catalog

Frameworks · Software

AI for Industry Challenge Toolkit

ROS 2 and Gazebo toolkit for developing and evaluating industrial cable-insertion policies.

Tools · Software

Collision Avoidance Metric

Point-cloud evaluation tool measuring false-positive and missed collisions for configured gripper paths.

Models · Software

FoundationPose

Research implementation for 6D object pose estimation and tracking from RGB-D inputs, using a CAD model or reference views.

Datasets · Software

Industrial Plenoptic Dataset (IPD)

Industrial-object pose-estimation dataset and evaluation toolkit, with an accessible BOP edition and conflicting license declarations.

Libraries · Software

Intrinsic SDK

Client APIs and developer tools for connecting to Intrinsic solutions and working with robot skills and object worlds.

Middleware · Software

Intrinsic SDK for ROS

ROS 2 integration for Intrinsic, including workcell-state, transform and image bridges plus skill/service build tooling.

Humanoids

OpenLoong / QingLoong hardware

A full-size humanoid mechanical-design reference with component drawings and STEP files; a complete BOM, assembly procedure and commissioned robot are not established by this review.

Arms & manipulation hardware

ALOHA 2

A bimanual teleoperation workcell with revised rail grippers, passive leader-arm gravity compensation and published parts for adapting four purchased robot arms.

Wheeled robots & hardware

TidyBot++

A powered-caster mobile base with published fabrication files, arm mounts and phone teleoperation; complete manipulation uses a separately supplied arm.

Simulation · Software

Stiff-GIPC

CUDA contact-simulation research implementation for coupled stiff, soft and cloth scenes, with interactive and bounded batch execution.

Simulation · Software

libuipc samples

Runnable libuipc examples for contact simulation, beginning with a CUDA backend check and extending to scripted robotics scenes.

Frameworks · Software

Taichi

Python-embedded parallel programming language and JIT compiler for CPU/GPU numerical kernels, including physics simulation examples.

Frameworks · Software

ASAP

Humanoid motion tracking and delta-action adaptation workflows, with separate simulator training and G1 policy-playback environments.

Frameworks · Software

mjlab

Manager-based robot-learning framework combining Isaac Lab-style environment APIs with GPU-accelerated MuJoCo Warp.

Middleware · Software

BeyondMimic Motion Tracking Controller

ROS 2 Jazzy inference controller for BeyondMimic policies, using CPU ONNX inference and model-embedded motion metadata.

Frameworks · Software

Universal Humanoid Control

MuJoCo human-motion imitation controller using SMPL-family humanoids and residual force control, with pretrained evaluation and training workflows.

Libraries · Software

SMPLSim

SMPL-family humanoid construction and task environments for MuJoCo and Isaac Gym, with simple PPO training utilities.

Simulation · Software

AMO

Interactive MuJoCo playback of a humanoid whole-body policy with keyboard control of torso posture, velocity and optional arm motion.

Libraries · Software

Unitree SDK2

Unitree robot C++ integration headers and examples linked against prebuilt SDK2 libraries for x86_64 and aarch64.

Middleware · Software

XRoboToolkit PC Service

C++/Qt desktop service and SDK for XR device discovery, tracking-data callbacks and recording in teleoperation systems.

Frameworks · Software

TWIST2

Unitree G1 motion tracking and PICO teleoperation pipeline with Redis communication, bundled ONNX controllers and separate retargeting setup.

Models · Software

GVHMR

Recover human motion in world coordinates from video, with CUDA inference and noncommercial research source terms.

Libraries · Software

mink

Differential inverse kinematics in Python using MuJoCo, with task costs, joint limits and explicitly configured collision constraints.

Frameworks · Software

VideoMimic

Reconstruct human motion and scenes from monocular video, retarget motion to humanoids, and train scene-conditioned control policies.

Tools · Software

EgoAllo

Estimate human body and hand motion from Project Aria camera and SLAM recordings, with separate visualization, inference and training workflows.

Frameworks · Software

LIBERO

Lifelong robot-learning benchmark with manipulation task suites, demonstrations and imitation-learning baselines; dataset license declarations differ across hosts.

Simulation · Software

libuipc

CUDA-accelerated C++ and Python simulation library coupling rigid and deformable objects through Incremental Potential Contact.

Libraries · Software

Quadrants

Python kernel compiler for physics and robotics workloads, with platform-specific CPU and GPU backends and no promised Taichi backward compatibility.

Frameworks · Software

BeyondMimic

BeyondMimic motion-tracking training extension for Isaac Lab, with G1 tasks and a WandB motion registry workflow.

Frameworks · Software

TWIST

Unitree G1 whole-body imitation system with teacher/student training, a supplied tracking checkpoint and separate motion-sender and controller processes.

Frameworks · Software

PHC

Physics-based humanoid motion imitation in simulation, with distinct policy configurations for tracking and fall recovery.

Middleware · Software

UnitreeCpp

Python binding to Unitree SDK2 with a C++ communication backend and a G1 control example.

Tools · Software

GMR

Human-to-humanoid motion retargeting toolkit with robot-specific mappings, MuJoCo visualization and saved motion output.

Libraries · Software

jaxls

Sparse constrained least-squares solver in JAX, with non-Euclidean variables and examples for geometric optimization.

Simulation · Software

robosuite Task Zoo

Community manipulation environments for robosuite, used by MimicGen for Kitchen and Hammer Cleanup; the reviewed snapshot has legacy dependencies and incomplete example documentation.

Simulation · Software

Genesis World

Genesis World, formerly Genesis, is a Python simulation platform combining multiple physics solvers, robot interfaces and rendering backends; optional features have different platform requirements.

Frameworks · Software

RoboJuDo

Humanoid policy deployment framework with MuJoCo and robot-specific adapters; the reviewed release has conflicting license labels that require clarification.

Frameworks · Software

MimicKit

Motion-imitation reinforcement-learning framework with DeepMimic, AMP, ASE and ADD implementations; simulator setup and external motion assets are separate requirements.

Tools · Software

LIBERO-PRO

LIBERO evaluation extension that perturbs objects, positions, language, task goals and environments to study policy generalization in simulation.

Libraries · Software

PyRoki

Python toolkit for differentiable robot kinematics, inverse kinematics and trajectory optimization, with JAX acceleration and explicit joint and collision-model limits.

Tools · Software

MimicGen

Source-available tool for generating robot demonstrations from a small human dataset; code is limited to noncommercial research/evaluation, while released datasets use CC-BY-4.0.

Frameworks · Software

ProtoMotions

Humanoid motion-learning framework with backend-specific training and pretrained tracking policies; model, dataset and robot-asset terms are separate from the source-code license.

Libraries · Software

cuRobo

CUDA-accelerated motion planning library for robot kinematics, collision checking and trajectory optimization; the reviewed v0.8.0 release introduces the V2 API.

Frameworks · Software

ASPIRE

Coding-agent framework for developing reusable robot manipulation skills in simulation, with a separate documented YAM hardware workflow.

Wheeled robots & hardware

AlohaMini2

Printable three-wheel mobile base with a motorized lift and two AM-ARM200 arms, run as a Raspberry Pi 5 host with a PC client through the lerobot_alohamini fork.

From USD 950.00 upstream estimate

Arms & manipulation hardware

AM-ARM200

Printable 6+1 DoF leader/follower arm pair using Feetech STS3215 and STS3095 servos, with LeRobot support supplied through the separate lerobot_alohamini fork.

From USD 144.44 upstream estimate

Leg subassembly

Asimov v0

Twelve-actuator bipedal leg set (lower body only) with articulated toes and a two-motor RSU ankle, published as STL simulation meshes, an MJCF model and an LFS-stored STEP assembly.

Sensor component

BioAmp EXG Pill

Open-hardware biopotential analog front-end board (2.54 × 1.00 cm) for ECG, EMG, EOG and EEG acquisition with a 5 V microcontroller ADC; a sensor component with EMG servo and claw-control example sketches, not a robot.

From USD 69.00 vendor price

Aerial robots

Carbon Aeronautics quadcopter

Teensy 4.0 quadcopter taught step by step in a 222-page build and programming manual, with a PCB upper frame and separate per-chapter Arduino code repositories; manual and code are licensed CC BY-NC-SA 4.0.

Aerial robots

CogniFly

Sub-250 g collision-resilient quadcopter with a bamboo or carbon-rod frame joined by printed TPU parts, an INAV flight controller and a Raspberry Pi Zero W controlled through the MIT-licensed cognifly-python library; no license file was identified for the frame files.

About CAD 407.90 upstream estimate

Arms & manipulation hardware

da Vinci Research Kit (dVRK)

Open controller electronics, FPGA firmware and cisst/SAW software for research systems built from retired da Vinci arms and consoles; the arms themselves are supplied hardware, not an open design.

Aerial robots

Flix

ESP32 quadcopter with a 3D-printed frame, four brushed motors switched by MOSFETs, an SPI IMU board, Arduino firmware with Wi-Fi/MAVLink control and a Gazebo simulator; no repository license file was identified.

Other robotics hardware

Grabette

Pollen Robotics handheld demonstration recorder (Raspberry Pi 4, fisheye camera, OAK-D SR, finger angle sensors) with an offline SLAM pipeline that exports LeRobot datasets.

About EUR 585.03 upstream estimate

Haptic peripheral

HapCompass

Fingertip-worn haptic device that rotates one linear resonant actuator with a Dynamixel servo to render 2D directional cues during robot teleoperation; printable parts, an editable source design and a priced BOM are released, but no control code was identified.

About USD 241.12 upstream estimate

Wheeled robots & hardware

Maker's Pet Loki

200 mm 3D-printable differential-drive pet robot with an ESP32, BLDC gear motors and a choice of hobby LiDARs, run through the shared Kaia.ai ROS 2 stack; sized for common 220 mm-class printers.

About USD 66.00 upstream estimate

Wheeled robots & hardware

Maker's Pet Snoopy

300 mm 3D-printable differential-drive pet robot with an ESP32, BLDC gear motors, a 360-degree LiDAR and a phone or tablet head, run through the shared Kaia.ai ROS 2 stack; pet character and skills are upstream work in progress.

About USD 199.60 upstream estimate

Aerial robots

MiniHawk-VTOL

3D-printed tricopter/flying-wing VTOL with two tilting front motors and a fixed rear motor, tuned on ArduPlane; STL/3MF artwork and parameter files are licensed CC BY-NC-SA 4.0 and native CAD is withheld.

Teleoperation input

Open-source Leader Arm

Unpowered 3D-printed six-joint leader arm read by AS5600 encoders through an ESP32, used to teleoperate an SO-ARM follower in MuJoCo or through LeRobot.

About INR 2,619.00 upstream estimate

Wheeled robots & hardware

OpenAMRobot mobile base (OpenAMR)

Differential-drive AMR base with a sheet-metal chassis, Raspberry Pi 5, Teensy 4.0, two 60 W ZD BLDC gearmotors, RPLIDAR A1 and ROS 2 Jazzy; upstream discloses open safety gaps such as no battery fuse or hardware E-stop.

Robotic hands · End effector

OpenBionics Prosthetic Hands

Single-actuator, tendon-driven anthropomorphic hand design from the OpenBionics initiative, with 3D-printed and laser-cut variants, parametric SolidWorks CAD and a 2015 assembly report; repository-wide CC BY-SA 4.0 statement.

Sensor component

OpenSimpleLidar

DIY triangulation scanning laser rangefinder (STM32F030, TSL1401CL line sensor, 780 nm laser, slip-ring head) rated by its author at 5 scans/s, 2-degree steps and up to 4 m; a sensor component for robots, not a robot.

About USD 23.17 upstream estimate

Models · Software

PULP-Dronet

Deep-learning visual navigation engine for the Crazyflie 2.1 nano-drone: PyTorch CNNs, quantization and deployment flow for the AI-deck GAP8 processor, onboard flight application and a collected dataset; code Apache-2.0, v3 dataset CC BY-NC-SA 4.0.

Arms & manipulation hardware

reBot Arm B601

Seeed Studio 6+1 DoF desktop arm with CNC aluminium and printed parts, published as B601-DM (Damiao motors, 24 V) and B601-RS (RobStride motors, 48 V) under CERN-OHL-W-2.0 hardware terms.

About USD 1,436.40 vendor price

Humanoids

ROBOTO_ORIGIN (RPO)

Full-size DIY humanoid prototype from RoboParty with CNC-machined metal structure, 23 Damiao actuators in the published BOM, ROS 2 deployment and Isaac Lab training code; V2.0 hardware is not compatible with V1.0.

About CNY 49,743.53 upstream estimate

Legged robots & hardware

Sesame Robot

Small 3D-printed ESP32 quadruped with eight MG90S servos, an OLED face and Wi-Fi control; four controller-board routes need matching firmware pin settings.

About USD 50.00 upstream estimate

Other robotics hardware

Stringman

Room-scale four-line cable robot (Arpeggio hardware) with two corner anchors and a hanging camera gripper, driven by a host-run Python motion controller; a public prototype.

From USD 655.00 upstream estimate

Humanoids

Zeroth-01 Bot

Small 3D-printed humanoid using sixteen Feetech serial-bus servos and a Milk-V Duo S; the main repository is now a pointer, so the BOM and STLs come from the separate docs repository.

About USD 350.00 upstream estimate

Motor controller

OpenDrone electronics

OpenESC-20x20 is a four-channel brushless motor controller with available KiCad sources and unresolved differences between headline ratings and technical test notes.

Tendon-driven dexterous robotic hand

BiDexHand

BiDexHand V4 is a 16-DoF tendon-driven hand with printed parts, a Servo2040 PWM route and ROS 2 control packages.

Six-legged servo hexapod

GGLDNL Hexapod

Printed 18-servo hexapod with separate mechanical designs, Servo2040 firmware and a Raspberry Pi controller.

Leg subassembly

Open Source Leg

Modular knee-and-ankle research platform with published assembly documentation, externally hosted design downloads and a separately licensed Python SDK.

Aerial robots

ESP-Drone

ESP32-based educational quadcopter with a documented S2 V1.2 build and sensor-dependent assisted flight modes.

Six-legged servo hexapod

Hexy

Historical six-legged servo robot with available frame designs, Servotor32 control sources and a Python 2-era host application.

Wheeled robots & hardware

OpenWeedLocator

Raspberry Pi camera and relay subsystem for targeted weed treatment, with printable enclosures and configuration-specific wiring requirements.

Motor controller

moteus

Open brushless servo-controller designs with CAN-FD control, board-specific electrical limits and motor calibration requirements.

Motor controller

ODrive v3.x

Legacy dual-axis brushless motor control with public v3.x firmware; v3.6 board designs and newer-generation firmware have different openness boundaries.

Control board

OpenCR

ROS-oriented STM32F7 controller with Arduino firmware sources and separate REVH hardware files whose precise reuse license remains unresolved.

Actuator component

Open Dynamic Robot Actuator

Brushless belt-reduced research actuator core with a v1.1 prepared encoder-kit route, precision printing requirements and separately integrated motor control.

Arms & manipulation hardware

TriFinger

TriFingerEdu v1 is a nine-axis torque-controlled manipulation platform built from three FingerEdu modules, with a documented TI evaluation-board control route.

Arms & manipulation hardware

D'Claw

Nine-axis three-finger manipulation benchmark with a separately instrumented object. Historical v0.9 hardware and legacy software requirements are scoped separately.

Legged robots & hardware

D'Kitty

Twelve-axis quadruped benchmark with Dynamixel actuation and external-tracking support. Historical v0.9 hardware and legacy software requirements are scoped separately.

Arms & manipulation hardware

OpenFlexure Microscope

Motorized printed microscope with an RMS-objective build route, separate controller and software dependencies, and explicit beta-version compatibility limits.

Arms & manipulation hardware

Opentrons OT-2

Programmable laboratory liquid handler with a dedicated OT-2 software route, published customization files and configuration-specific calibration requirements.

Teleoperation input

GELLO

Joint-matched teleoperation leaders for robot manipulators; selected coverage follows the YAM passive configuration and distinguishes the separate Franka FR3 ROS 2 workflow.

Arms & manipulation hardware

Rotary Inverted Pendulum

Printed rotary pendulum with Arduino Nano control and a MuJoCo-to-hardware learning pipeline; preserved sources include rig-specific distilled policy weights and differing bring-up microstep guidance.

Arms & manipulation hardware

UMI

Handheld gripper-based demonstration collection and diffusion-policy workflow, with separate robot deployment hardware and explicit SLAM, timing and source-artifact gaps.

Wheeled robots & hardware

e-puck

Small wheeled research robot; this profile covers e-puck2 using its official hardware guide, pinned Qt monitor and separately preserved STM32F407 firmware sources.

Controller extension

Pi-puck

Raspberry Pi extension for e-puck and e-puck2 robots, with Linux integration, separate controller firmware and an optional YRL expansion board.

Wheeled robots & hardware

Thymio

Educational wheeled robot; this profile selects Thymio II PCB version 2.1 design sources and separately preserved V14 firmware, with explicit generation and dependency boundaries.

Wheeled robots & hardware

Ardumower

DIY robotic mower reference platform; this review selects the 1.0a10-Azurit release and records its PCB configuration, stored-setting behavior and conflicting license notices.

Wheeled robots & hardware

OpenMower

RTK-guided mower conversion ecosystem; this review selects the v2 YardForce route and preserves its separate carrier-board and xCore firmware revisions.

Wheeled robots & hardware

Sowbot / Feldfreund

Experimental agricultural robot integration stack using ROS 2 Jazzy, ESP32/Lizard control and RTK GNSS; the selected sources distinguish Gazebo mission results from incomplete hardware validation.

Wheeled robots & hardware

Acorn

Precision farming rover with separate software, electronics and mechanical sources; the documented Docker simulation substitutes fake sensor data and is not evidence of field performance.

Arms & manipulation hardware

FarmBot

Track-mounted gardening robot with a moving gantry and interchangeable tools; this profile selects FarmBot Genesis v1.8 documentation and distinguishes the standard and XL installations.

Wheeled robots & hardware

ROMI Rover

Agricultural weeding rover with published prototype V3 design files and an adapted CNC weeding tool; unfinished electronics and steering details require configuration work.

Marine robots

BlueROV2

Commercial underwater ROV with published integration CAD and open software; this profile selects the standard six-thruster R4 configuration and distinguishes it from the Heavy upgrade.

Marine robots

LoCO AUV

Research autonomous underwater vehicle with Pixhawk, Raspberry Pi and Jetson TX2; this review selects the documented LoCO 1.0 configuration and separates later internal structure alternatives.

Marine robots

OpenROV

Historical DIY underwater exploration platform; this entry selects the OpenROV 2.8 mechanical files and the corresponding named controller-board package for source research.

Aerial robots

Borinot

Research aerial manipulator combining a six-motor flying platform with a two-link torque-controlled extremity and an external motion-capture setup.

Aerial robots

Clover

Educational quadrotor platform pairing a PX4 flight controller with Raspberry Pi and ROS; this entry selects Clover 4.2 construction and the documented ROS Noetic image route.

Aerial robots

Crazyflie

Small quadrotor development platform; this profile selects the brushed Crazyflie 2.1 hardware and distinguishes its firmware target from Brushless and Bolt variants.

Aerial robots

Flone

Laser-cut quadrotor frame for carrying a smartphone or compact camera; the preserved frame files and original Spanish manual leave complete software and electronics reproduction unresolved.

Wheeled robots & hardware

BamBot

Two-arm mobile manipulator with a three-wheel omnidirectional base, released printable parts and a modified LeRobot control repository.

Two-wheel inverted-pendulum balancing robot.

Bobble-Bot

Two-wheel balancing robot with ROS 1 control and Gazebo simulation sources; physical construction uses custom motor drives, a Pi CAN shield and power distribution board.

Wheeled robots & hardware

ROSMO

Small modular robot with a PCB chassis, ESP32-S3 and two- or four-wheel variants; separate Microblocks, MicroPython and ROS 2 routes have different maturity.

Wheeled robots & hardware

Hoverbot

Two-wheel balancing robot project using a Raspberry Pi, pi3hat and moteus motor controllers, with printed parts and source-defined balance settings.

Wheeled robots & hardware

Just1

Raspberry Pi mecanum robot with ROS 2 navigation using lidar and an IMU; its published wheel commands are not measured wheel speeds.

Wheeled robots & hardware

LeKiwi

Three-wheel mobile manipulator with SO-100/SO-101 arm options, printed parts and a separate LeRobot teleoperation stack.

From USD 546.97 Known US parts subtotal · Oct 4, 2026

Wheeled robots & hardware

Mobile ALOHA

Hardware-and-software platform combining two leader arms, two follower arms and an AgileX Tracer base for whole-body teleoperation and demonstration collection.

About USD 31,757.86 upstream estimate

Wheeled robots & hardware

NanoSaur

Small tracked Jetson robot; this profile covers the preserved 1.5.1 source, whose container recipe targets ROS 2 Foxy and whose STL files carry noncommercial terms.

Wheeled robots & hardware

OpenPodcar

Research vehicle conversion built around a specific mobility scooter, with Arduino throttle control, actuator steering and a legacy ROS/Gazebo stack.

Wheeled robots & hardware

OpenScout

Four-wheel mobile base built from aluminum extrusions, with a documented articulated chassis, radio control and encoder-based motor control.

Wheeled robots & hardware

JetBot

Small Jetson Nano educational robot with printed chassis and browser-based control; the reviewed 0.4.3 build uses legacy Nano-specific images and matched wheel/caster parts.

Wheeled robots & hardware

Magni

Mobile robot base with available ROS host software; the reviewed setup follows separately preserved Noetic sources, with unreleased controller firmware and revision-specific hardware constraints.

Wheeled robots & hardware

ROSbot

ROSbot 2R mobile platform with separately versioned ROS packages and CORE2 microcontroller firmware; this entry distinguishes the 2R configuration from newer ROSbot hardware.

Frameworks · Software

Isaac Lab

GPU-accelerated robot-learning framework; the reviewed 3.0 early-access release introduces multiple physics backends and changed installation and migration workflows.

Models · Software

Octo

Transformer diffusion robot policies with pretrained checkpoints and fine-tuning tools; observation history, action statistics and robot-specific interfaces must match the selected model.

Models · Software

OpenPI

Vision-language-action model code, checkpoints and adaptation examples for pi0, pi0-FAST and pi0.5, with backend-specific features and robot-specific action conventions.

Frameworks · Software

robomimic

Robot-learning-from-demonstration framework with HDF5 dataset tooling, offline learning algorithms and version-specific simulation datasets.

Simulation · Software

robosuite

MuJoCo-based robot-learning environments with configurable robots, grippers, controllers and observations; the reviewed v1.5.2 setup requires matching rendering and action conventions.

Wheeled robots & hardware

Donkey Car

Python RC-car platform for manual driving and optional learned control; reviewed Raspberry Pi/PCA9685 build guidance has OS-version conflicts and an incomplete parts budget.

Wheeled robots & hardware

F1TENTH / RoboRacer

Ackermann-steered racing research platform; the preserved Xavier NX/Slash guide differs from its newer Orin Nano Super/Fiesta parts list and requires configuration-specific calibration.

Wheeled robots & hardware

Linorobot

Configurable ROS 2 mobile-robot stack; this profile selects a two-wheel differential-drive, ESP32 control route with separately versioned firmware and measured chassis parameters.

Wheeled robots & hardware

MuSHR

RC-based research racecar; the reviewed Nano route uses V3 printed parts and separately versioned ROS control packages, with older firmware/image assumptions requiring validation.

Wheeled robots & hardware

ExoMy

Six-wheel printed rover with separately preserved build files and ROS software; the reviewed default software uses ROS Melodic and requires per-robot calibration.

Wheeled robots & hardware

JPL Open Source Rover

Six-wheel rocker-bogie rover with off-the-shelf mechanical parts and separate ROS control software; reviewed hardware and software snapshots need version and calibration reconciliation.

Wheeled robots & hardware

OpenBot

Smartphone-controlled wheeled robot platform; the reviewed DIY configuration combines an Arduino Nano and L298N driver, with phone and firmware requirements distinct from the advertised body cost.

Wheeled robots & hardware

TurtleBot4

ROS 2 mobile research platform on an iRobot Create 3 base, with distinct Standard/Lite sensor packages and distribution-specific base-firmware requirements.

Legged robots & hardware

Acromonk

Underactuated bar-swinging research robot with one QDD actuator, passive hooks and simulation/control sources; requires a ladder test rig, and the reviewed hardware script conflicts with its guide.

Legged robots & hardware

DIY hobby-servos quadruped

Twelve-servo Raspberry Pi/Arduino quadruped with downloadable CAD and Python gait code; hardware is noncommercial source-available and manual calibration is required.

Printed quadruped with three joints per leg.

OpenQuadruped

Twelve-servo printed quadruped prototype with CAD, PCB files and ROS control sources; calibration, gait refinement and build instructions remain incomplete.

Wheeled robots & hardware

Wheelbot

Reaction-wheel unicycle research platform, scoped to v2.5 CAD and firmware with a documented state-estimation error and historical development tools.

Simulation · Software

Drake

C++ and Python toolbox for multibody dynamics, mathematical optimization and model-based robot control, with installation choices tied to platform and solver requirements.

Simulation · Software

Gazebo

Robot simulation library and application with physics, sensors and plugins; Jetty setup and ROS integration require matching package and distribution choices.

Frameworks · Software

ROS 2

Libraries and tools for robot applications, reviewed through a Humble release manifest and version-matched documentation for installation and node communication.

Simulation · Software

Webots

Robot simulation environment with a scene editor, sample worlds and controller APIs; reviewed at R2025a with release-specific graphics requirements and asset licensing.

Legged robots & hardware

Mini Pupper

Original Mini Pupper quadruped with twelve custom servos, Raspberry Pi hardware and separate movement/ROS stacks; hardware generation, image and calibration route must be matched.

Legged robots & hardware

mjbots quad

Quadruped source collection with distinct A1 and A2 configurations, printable structural parts, C++ control and browser-based simulation; this review centers on the documented A1 operating configuration.

Legged robots & hardware

OpenCat robots

Nybble/Bittle robot-family entry centered on OpenCat 1.2.5 NyBoard firmware, calibration and host tools; software openness does not establish complete frame or electronics manufacturing sources.

Biped with five controlled joints per leg.

MEVITA

Ten-joint biped with purchased actuators, machined and welded metal parts, and a ROS 1 learning-to-control workflow; external hardware rights and build completeness need separate checks.

Legged robots & hardware

MEVIUS

Twelve-joint quadruped with purchased actuators and fabricated metal parts; its preserved ROS 1 control snapshot warns that the supplied policy is not very stable.

Desktop biped with two three-axis legs.

TipTap

Printed desktop biped with four custom torque actuators, two positioning servos and a shared Python simulation/hardware interface; controller-source licensing remains unresolved.

Humanoids

CocoNuts

Humanoid design and one-leg benchmark exploring low leg inertia through belts and parallel linkages; the maintainer has put the project on hold.

Humanoids

Duke Humanoid v1

Ten-degree-of-freedom research biped with machined aluminum parts, EtherCAT motor control and learned locomotion; artifact and dependency licenses need separate checks.

Humanoids

Kayra

Printable humanoid with FreeCAD sources, a Servo 2040 control route and MuJoCo examples; power selection and several servo mappings remain unresolved.

Legged robots & hardware

MABEL

Wheeled balancing robot with articulated servo legs, Arduino balance firmware and Raspberry Pi inverse-kinematics examples; electronics and controller integration remain incomplete.

Simulation · Software

MuJoCo

Physics engine for articulated mechanisms and contact, with C/Python interfaces and a version-sensitive model and simulation workflow.

Frameworks · Software

Nav2

ROS 2 navigation framework with configurable bringup, localization and behavior-tree navigation; robot and distribution matching are essential.

Frameworks · Software

ros2_control

ROS 2 framework for managing controllers and hardware interfaces, with mock components for checking integration before physical hardware trials.

Middleware · Software

ICON ROS 2 hardware-module controller

Bridge that exposes position-controlled ros2_control arms as Intrinsic ICON hardware modules.

Libraries · Software

ICON Shared Memory

C++ shared-memory transport and real-time utilities used by the ICON control framework.

Frameworks · Software

Intrinsic Inference

Preview framework for managing model-serving lifecycles and exposing inference services to ROS 2.

Tools · Software

Intrinsic MoveIt planning service

MoveIt planning services and client skills for Intrinsic Core, with a documented offline mock-hardware route.

Middleware · Software

Intrinsic ROS camera adapters

ROS camera adapters with documented Orbbec, Luxonis, Zivid and experimental Ensenso integration routes.

Libraries · Software

Malloc Guard

C++ allocation monitor for detecting heap operations inside designated real-time sections.

Legged robots & hardware

Upkie

Wheeled biped with four leg servos, two driven wheels and a Raspberry Pi control stack; the reviewed build guide needs revision matching.

Frameworks · Software

Intrinsic Core

Local robotics runtime, SDK and real-time control framework with a documented machine-tending simulation route.

Tools · Software

Intrinsic Open Machine Tending Solution

Configurable CNC machine-tending reference application using Intrinsic Core, behavior trees, perception and machine I/O.

Compact rack-driven parallel gripper · End effector

Open-Gripper-mini

Compact rack-driven gripper with an assembly STEP and upstream build photo; exact actuator, BOM and control integration still need to be specified.

Rack-driven parallel gripper for LITE 6 · End effector

OpenParallelGripper — XL330 version

Parallel-jaw gripper for the LITE 6 using a Dynamixel XL330 servo, printed housings, machined claws and OpenRB control examples with a serial-rate mismatch to resolve.

Five-finger robotic development hand · End effector

Ada robotic hand V1.1

Five-actuator robotic development hand with a flexible printed palm, rigid covers and separate Almond controller and Artichoke firmware sources.

Planetary-geared filament feeder · End effector

Galileo 2 Extruder (G2E)

Planetary-geared filament feeder for a Stealthburner toolhead, with custom gearbox parts, selectable printed housings and a detailed assembly manual.

Magnetic tool coupling · End effector

Magnetic toolchanger V1

Experimental printer tool changer that rotates permanent-magnet rings to attach lightweight tools; requires custom docks and Klipper configuration.

Underactuated two-finger gripper · End effector

Rhino V2 adaptive gripper

Underactuated two-finger gripper with DM4310 actuation, assembly CAD and a mixed fabrication BOM; control licensing is unresolved.

Six-legged walking robot

MiniRHex

A six-legged educational robot with printable chassis and legs, Dynamixel motors and Arduino control.

About USD 286.51 upstream estimate

Tool coupling and docking components · End effector

E3D ToolChanger hardware

Tool-coupling hardware with dimensioned aluminum parts, a stepper-driven latch and V6/Hemera tool variants.

Robot-mounted two-finger gripper · End effector

YUBI gripper

DYNAMIXEL-driven two-finger gripper with a camera, assembly CAD and robot-specific mounting parts.

Parallel and adaptive grippers · End effector

Actuated UMI

XL430-W250-T drives a belt/rail gripper with constant-force springs; U2D2 and power hub are listed.

Dexterous hands · End effector

Aero Hand Open

A five-finger tendon-driven hand with seven actuators, sixteen joints and separate hardware/software licenses.

Dexterous hands · End effector

ALARIS Hand

Six-DoF anthropomorphic hand with linkage fingers, adaptive thumb and worm-and-rack transmissions.

Paste and syringe extrusion · End effector

Allstruder

A modular syringe pump and extrusion design with printable parts and multiple syringe and mounting configurations.

Dexterous hands · End effector

Amazing Hand

A printable four-finger hand with eight actuators and a Reachy 2 wrist interface.

From EUR 116.89 upstream estimate

Pellet extrusion · End effector

Bloft Bad-Ass Pellet Extruder

Large-format pellet screw extrusion around a purchased RobotDigg 16 mm compression screw/barrel and NEMA23 flange.

Dexterous hands · End effector

CRAFT Hand

Printable CRAFT Hand parts and Bambu print profiles with left/right palm and thumb alternatives.

Delta tooling · End effector

Delta X accessory family

A family of fourth-axis jaw grippers, flexible jaws, single/double suction heads, pen tools and a filament-printing head.

Delta tooling · End effector

Delta-Robot One magnetic tool

Magnetic pick-and-place tool carried by the Delta-Robot One moving platform.

Dexterous hands · End effector

DexHand

A tendon-driven hand with wrist and forearm; v1 build modifications differ from the v2 early-access design.

Pellet extrusion · End effector

FabMX extruder

Pellet extruder with multiple STEP revisions and NEMA17/NEMA23 variants, intended for MIM printing materials.

Suction and sensing · End effector

FlexiCup

A suction cup combining vision and tactile sensing with wireless electronics.

Electric grippers · End effector

Grip4SO101

A printable replacement gripper for SO-101 that reuses the original gripper motor.

Dexterous hands · End effector

HRI Hand

Six linear actuators drive five fingers with coupled joints; NUCLEO-F303K8 control, Bluetooth and ROS support.

Tool changing · End effector

Jubilee tool ecosystem

Kinematic tool-changing ecosystem including extrusion and pen tools; liquid-handling use is reported.

Dexterous hands · End effector

LEAP Hand

An anthropomorphic hand with Full and Lite motor options and separate CAD downloads.

Paste and syringe extrusion · End effector

Linear-stepper paste extruder

Compact syringe plunger driven by an NPM PFCL25-48Q4 linear stepper; printed parts optimized for ABS.

Vacuum and small-part handling · End effector

LumenPnP nozzle subsystem

A vacuum pick-and-place nozzle subsystem with inventoried FreeCAD holder and spring files and separate purchased-component references.

Parallel and adaptive grippers · End effector

MAGPIE gripper

Two AX-12A servos drive parallel fingers through four-bar linkages; OpenRB-150 control and a palm RealSense D405.

Electric grippers · End effector

MSG gripper

A modular stepper-driven gripper with selectable rail and motor lengths.

Dexterous hands · End effector

ORCA Hand hardware

Tendon-driven hand family with base, touch, lite and joint-sensing variants; Feetech and Dynamixel motor-specific parts.

Paste and syringe extrusion · End effector

Oxygem modified Replistruder 5

Modified Replistruder 5 with NEMA17, 3:1 GT2 belt reduction, anti-backlash TR8×1.5 lead screw and 1 mL Hamilton syringe.

Parallel and adaptive grippers · End effector

PincOpen

Printed parallel fingers with interchangeable tips and a Feetech STS3215; optional camera mount.

Pellet extrusion · End effector

Raptor pellet extruder

A pellet-printing design for an Ender-3 conversion, with inventoried screw, barrel and heat-block geometry.

Parallel and adaptive grippers · End effector

RealMan RMG24

Parallel gripper using the WHJ03 joint module, interface PCB and 24 V RS485/Modbus RTU control.

Paste and syringe extrusion · End effector

Replistruder 5

Syringe extrusion design for FRESH hydrogel printing, distributed as STL and STP in a versioned Zenodo archive.

Electric grippers · End effector

Robonine parallel gripper

A parallel gripper for SO-ARM100/101 with selectable guide rods and modular printed parts.

Dexterous hands · End effector

RUKA

A learned-control humanoid hand with external fabrication instructions, CAD and controller data.

Parallel and adaptive grippers · End effector

SimpleSliderHand

Tendon-driven sliding jaws on a 12 mm rail, MX28T servo, OpenCM9 and EXP485. Optional capacitor board supports power-loss repositioning.

Soft grippers · End effector

SoAG soft gripper

A pneumatic soft gripper made with cast elastomer and printed molds.

Electric grippers · End effector

SSG-48

A motor-driven adaptive gripper with a reported 48 mm stroke and CAN control.

About EUR 773.50 vendor price

Filament extrusion · End effector

Voron Stealthburner

Filament toolhead platform with CAD and printable housings for a printer extrusion assembly.

Adaptive grippers · End effector

Yale OpenHand

A family of adaptive hands with shared CAD parts and a separate Dynamixel control repository.

Dexterous hands · End effector

Yeah Hand

Yeah Hand/Rebelia lineage: humanlike hand with separate robot/prosthetic firmware and commercial servos.

Two leader arms and two follower arms

ALOHA

A four-arm bimanual teleoperation and demonstration-recording system with a separate learning stack.

Six-axis articulated arm

Annin AR4 (MK3 configuration)

A six-axis workshop arm with printed or aluminum structure; this review covers MK3 and its matching 6.3-series controls.

Biped humanoid

Asimov v1

A 1.2 m humanoid design with separate media and motion computers, fabricated metal/nylon structure and an unfinished locomotion-policy release.

Printed articulated arm

BCN3D Moveo

A printed educational robot arm with CAD, firmware, BOM and assembly documents in one source repository.

Printed-gearbox humanoid

Berkeley Humanoid Lite

A humanoid built around printed gearboxes, with separate simulation assets and low-level control code that requires joint calibration after power cycles.

From USD 3,349.90 Known US parts subtotal · Oct 4, 2026

Legged robots & hardware

Bolt

A six-actuator research biped with passive ankles, tethered power/data and no active yaw control.

Compact articulated arm

Dummy-Robot

A compact custom arm combining CNC parts, harmonic reducers and custom motor-control electronics.

Desktop articulated arm

Faze4

A six-axis printed arm built around cycloidal gearboxes, with separate mechanical and control documentation.

Humanoids

HOPE Jr

A humanoid development project with a separate arm-and-exoskeleton branch of work for LeRobot teleoperation.

Humanoids

iCub

A research humanoid family whose hardware revisions, robot configuration and software distribution must be matched before reproduction.

Humanoids

igus Humanoid Open Platform

A humanoid soccer research platform with a released load-bearing plastic body design and a separately maintained ROS framework.

Humanoids

InMoov

A modular printable humanoid with body-section tutorials, tendon-driven hands and a separate MyRobotLab control route.

Modular humanoid

K-Bot

A public-alpha humanoid project whose CAD, operating system, simulation and inference code live in separate sources.

Desktop robot arm

Koch arm

A printable Dynamixel arm with a separate leader design for teleoperation and robot-learning experiments.

From USD 245.85 Known US parts subtotal · Oct 4, 2026

Laser-cut articulated arm

MeArm

A four-degree-of-freedom educational arm made from versioned laser-cut parts.

Compact printed humanoid

Microban

A roughly 30 cm printed humanoid using 19 DYNAMIXEL servos, a Raspberry Pi Zero 2 W and a custom-fabricated robot HAT.

From USD 585.27 Known US parts subtotal · Oct 4, 2026

Humanoid interaction platform

NICO

A humanoid interaction research platform with distinct FDM and SLS-oriented mechanical designs and a separate software repository.

Humanoids

NimbRo-OP2 / OP2X

Two humanoid soccer research designs with separate CAD, actuator selections and fabrication requirements.

Printed articulated arm

Niryo One

Printable Niryo One arm designs with a separate ROS stack and a documented older-hardware archive.

Legged robots & hardware

Open Duck Mini

A small printed biped with bus servos, a Raspberry Pi runtime and learned walking policies; the reviewed v2 build still has documentation and configuration gaps.

Articulated arm platform

OpenArm

An arm research platform whose hardware release separates the arm, evaluation cell and KER assemblies.

Four-joint arm with actuated gripper

OpenMANIPULATOR-X

A four-joint DYNAMIXEL arm with a separate gripper axis, documented for PC-based ROS control or standalone OpenCR operation.

Printed desktop arm

PAROL6

A printed desktop arm with a separate Commander application and a required PAROL6 control board.

Humanoids

pib

A printable humanoid whose #5 basic design replaces the #4 part set and uses Raspberry Pi 5 compute.

Six-axis articulated arm

Poppy Ergo

A six-axis research arm using Dynamixel MX-28 motors and Python control.

Six-axis educational arm

Poppy Ergo Jr

A six-axis educational arm using printable parts, Dynamixel XL-320 servos and Raspberry Pi control.

Printed humanoid

Poppy Humanoid

A printed research humanoid using 25 Dynamixel actuators and a documented legacy Odroid setup.

Humanoid platform

Reachy 2

A Reachy 2 ROS 2 workspace providing robot descriptions, control interfaces and simulation launch components.

Expressive desktop robot

Reachy Mini

An expressive desktop robot with separate Wireless, USB-connected Lite and simulation setup routes.

Biped humanoid

ROBOTIS OP3

A 20-joint research humanoid with a 2025 ROS 2 revision and an older ROS 1 software lineage that must be kept distinct.

Legged robots & hardware

Solo

A modular torque-controlled quadruped family; this review distinguishes wired Solo12 from its battery-and-wireless upgrade.

Legged robots & hardware

Stanford Doggo

A historical eight-actuator quadruped using coaxial leg mechanisms, Teensy control and customized ODrive firmware.

Original Pupper v1 servo-driven quadruped

Stanford Pupper

The original servo-driven Stanford Pupper, a Raspberry Pi quadruped whose upstream support has ended in favor of a separate v3 design.

Articulated six-axis arm

Thor

A printable six-degree-of-freedom teaching arm with editable FreeCAD, STEP and STL mechanical sources.

Printed research humanoid

ToddlerBot

A humanoid research platform with distinct 2XC and 2XM motor configurations, separate PCB sourcing and noncommercial hardware terms.

Six-axis articulated arm

YAM

A family of six-axis YAM arms supported by a Python and CAN control library with revision-specific models.

Libraries · Software

LeRobot

Tools for collecting robot demonstrations and training and deploying learned policies.

Frameworks · Software

MoveIt 2

A ROS 2 manipulation framework supporting motion planning and kinematics.

Desktop manipulator

SO-101

A printable robot arm for teleoperation and robot-learning experiments.

From USD 150.28 Known US parts subtotal · Oct 4, 2026

Wheeled mobile platform

TurtleBot3 Burger

A mobile robot platform for learning and experimenting with navigation.

About USD 783.50 vendor price