Asimov v0
Based on published sources · Not tested by us ·
License: CERN-OHL-S-2.0 · Details by part
Overview
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. [S001] [S005] [S006]
Asimov v0 is Menlo Research's earlier open-source release of a bipedal lower body: two legs with six actuated joints each, an articulated toe and an RSU (revolute–spherical–universal) ankle linkage. The README describes it as built from off-the-shelf components and compatible with MJF printing and other low-volume processes. It suits developers who already have, or will build, their own electronics and control stack. [S001]
It is easy to confuse with Asimov 1, whose separate repository describes a 1.2 m, 35 kg humanoid with 25 actuated joints, arms, a head, onboard computers, electrical CAD and onboard software. None of those upper-body, compute or electrical parts appear in the v0 archive. [S006] [S007]
Specifications
| Detail | Description |
|---|---|
| Type | Bipedal lower body: six actuated joints per leg plus a spring-loaded articulated toe. Reported by source [S001] [S005] · Checked 2026-10-05 |
| Intended users | Humanoid hardware developers able to source Encos actuators, MJF-printed parts and their own electronics and control stack Editorial assessment [S001] [S006] · Checked 2026-10-05 |
| Assembly | Not known |
| Calibration | Not known |
| Operating system | Not known |
| Computer needed | Not known |
3D preview
Preview not available yet. Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.
Model sources
Design-source links are available. A configuration-matched assembly and its file-level reuse scope have not yet been reviewed for a hosted preview.
Assembly and use
What the pinned repository contains
The archive holds the README, the CERN-OHL-S-2.0 license, a mechanical folder and a simulation folder. The simulation folder has fifteen STL link meshes and a MuJoCo (MJCF) model. The mechanical folder links an externally hosted 3D viewer and explains the ankle mapping. Its STEP assembly is a 134-byte Git LFS pointer to a payload of about 101 MB. We did not retrieve that payload, so we cannot say whether it is a fabrication-ready model. No print-ready part set, drawings, BOM, wiring or firmware was identified. [S004] [S006]
Joints, motors and the ankle mapping
The README lists hip pitch at 120 Nm peak, hip roll 90 Nm, hip yaw 60 Nm, knee 75 Nm and each ankle motor 36 Nm. Left and right ranges are mirrored; for example, left hip pitch is −120° to +57° and right is −57° to +120°. Each joint names an Encos motor model, and both ankle motors use the EC-A4310-P2-36. [S001]
The ankle table describes motors A and B, each ±70°, rather than pitch and roll directly. Two linkages move a bar, and the mechanism note derives a small-angle mapping between motor angles and ankle pitch and roll. The MJCF model instead defines ankle pitch and roll joints with their own limits (left pitch −0.349 to 0.5 rad, roll ±0.1 rad). A controller therefore has to convert between the two, and the simulation limits should not be read as the motor table. [S001] [S004] [S005]
In the model, each toe joint has a spring stiffness and no motor class, so we read it as passive. That is an inference from the model file. The model's inertial masses add up to about 15.9 kg across its fifteen bodies. That is our sum of simulation values, not a measured weight. [S005]
Cost and license scope
No upstream BOM, price or cost figure was identified. The actuators, MJF parts, electronics and power system therefore need separate quotes. [S001] [S006]
The root CERN-OHL-S-2.0 is the only license file. It is strongly reciprocal: anyone who makes and conveys products must give recipients the complete source or its location. The purchased Encos motors are not part of the published design files. [S001] [S003]
No fabrication, assembly, actuation or simulation run was performed for this profile.
Cost
No current, complete configuration-specific build cost has been established for this profile.
Source files and licenses
Licensed mechanical and simulation sources are published, but electronics, firmware, BOM and assembly material were not identified.
| Layer | Availability / license |
|---|---|
| mechanical design | available · CERN-OHL-S-2.0 The STEP assembly is stored through Git LFS: the source archive holds a pointer naming a 101,206,631-byte payload, which was not retrieved or checked. STL meshes under sim-model are simulation assets; no print-ready part set or fabrication drawings identified. [S001] [S003] [S006] |
| electronics | not found · License not fully assessed No schematics, wiring or board files identified in the pinned repository; motors are purchased Encos units. [S006] |
| firmware | not found · License not fully assessed No actuator or controller firmware identified. The ankle mapping note includes C++ snippets, not a firmware package. [S004] [S006] |
| software | available · CERN-OHL-S-2.0 Only a MuJoCo model is published; no control, training or deployment code identified. Root license is the only license file. [S003] [S005] [S006] |
| documentation | available · CERN-OHL-S-2.0 README joint/motor tables and the ankle derivation; root license applies as declared. [S001] [S003] [S004] |
No trained policy is part of this release.
No dataset is part of this release.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · Menlo Research (Asimov) / asimov-v0 contributors
Asimov v0 README
Accessed 2026-10-05 · README.md at 759204f5Source notes
Lower-body scope, joint table with ranges and peak torques, Encos motor models and fabrication notes.
- S002 · Menlo Research (Asimov) / asimov-v0 contributors
Repository revision and acquisition metadata
Accessed 2026-10-05 · 759204f531b071e65540e8b31d89736a3d09e0dd; default-branch snapshot, no stable release in first 100Source notes
Selected commit, date, archive checksum, popularity counts and license hint.
- S003 · Menlo Research (Asimov) / asimov-v0 contributors
Repository license (CERN-OHL-S-2.0)
Accessed 2026-10-05 · LICENSE.txtSource notes
CERN Open Hardware Licence v2 Strongly Reciprocal text.
- S004 · Menlo Research (Asimov) / asimov-v0 contributors
Mechanical notes and ankle mechanism derivation
Accessed 2026-10-05 · mechanical/README.md; mechanical/ankle_mechanism.mdSource notes
External 3D viewer link and the two-motor ankle pitch/roll mapping.
- S005 · Menlo Research (Asimov) / asimov-v0 contributors
MuJoCo model
Accessed 2026-10-05 · sim-model/xmls/asimov.xmlSource notes
Body tree, joint ranges, inertial masses, toe spring and IMU sensor site.
- S006 · Menlo Research (Asimov) / asimov-v0 contributors
Pinned archive inventory and Git LFS pointer
Accessed 2026-10-05 · 759204f531b071e65540e8b31d89736a3d09e0dd archive member list; .gitattributes; mechanical/ASV0_lowerBody.STEP pointerSource notes
File list showing STL meshes, MJCF and a 134-byte LFS pointer in place of the STEP assembly.
- S007 · Asimov / asimov-1 contributors
Asimov 1 README (separate repository, for disambiguation)
Accessed 2026-10-05 · README.md at 35ae7b35 (preserved archive)Source notes
Asimov 1 scope used only to distinguish it from v0.
Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5
Change history
2026-10-05 — Initial source-researched profile from pinned commit 759204f5.