Open Source RoboticsRobots, software & learning

PLEN2

Robot / hardware build

Printable humanoid with released STL and editable Fusion models, Arduino firmware, board-design sources and a legacy host-tool workflow. [1] [2] [4]

Build & first use →Official websiteUpstream build guide

For
Makers comfortable with legacy Arduino hardware and joint calibration [1] [2] [8]
Cost
No current cost or bill of materials established yet.
Source rights
Some licenses are unresolved. Review licenses
Unknowns
host computer, operating system not fully established. Review gaps

Source researched · Not tested by us
Sources checked · Research details

Licenses & related hardware
License
CC-BY-4.0, MIT · license not fully assessed for documentation · Details by part

Requirements · Research details and dates

On this page

Overview

PLEN2 provides a printable humanoid mechanism with Arduino firmware and a scripted-motion workflow. Its useful starting point is the combination of the main build repository, the separately published Fusion models and the two board-design repositories. A set of printed parts alone does not supply the servos, controller or a working host environment. [1] [2] [4] [6] [7]

Is this for you?

Known limitations
  • No current complete parts or available-kit price verified.
  • Exact servo sourcing, battery/charger selection and complete delivered build cost need confirmation for the chosen board/mechanics.
  • Linked host tools and historical installation environment were not reproduced; model and board revisions require matching.

Editorial assessment from cited sources; no reproduction or compatibility test.

[1] [2] [4] [8] · Editorial assessment

What you need

Tools
  • FDM printer or printing service
  • Arduino IDE and USB programming
  • Mechanical assembly and servo calibration tools

Editorial assessment from cited sources; no reproduction or compatibility test.

[1] [2] · Editorial assessment

Hardware & parts

Hardware configuration

Compact printable humanoid with scripted joint motions

[1] [4]

Controller

PLEN custom Arduino/Genuino Micro-compatible ATmega32u4 control board

[2]

Assembly & first use

Open the upstream getting-started guide [1]

  • Choose PLEN2 model folders and identify the matching control/head boards and servos.
  • Follow the documented print/assembly path, flash the matching firmware and configure joint home positions.
  • Use the overview’s matching ControlServer/MotionEditor versions to transfer an initial motion; verify host compatibility first.

Editorial assessment from cited sources; no reproduction or compatibility test.

[1] [2] [4] [8] · Editorial assessment

Cost

No current, complete configuration-specific build cost has been established for this profile.

Budget and rights

A current complete price is unknown. Check the exact boards, servos, power supply or battery/charger, printed parts, programming host, tools, shipping and tax before treating any kit price as a first-working-setup budget. [1] [2]

Mechanical model files carry CC-BY-4.0, while the inspected Arduino firmware carries MIT terms. The board repositories also declare CC-BY-4.0, but the control-board README explicitly leaves the Arduino Micro schematic portion under Arduino's own terms. Host ControlServer and MotionEditor source LICENSE files are MIT; an additional Laws of PLEN file states usage requests whose relationship to that grant remains unresolved here. Neither firmware licensing nor printable meshes settle the rights of every purchased component or dependency. No CAD, electronics fabrication or physical build was tested here. [3] [5] [6] [7] [10] [12] [13]

3D preview

Preview not available yet. Printable meshes and editable Fusion files are released separately. No matched complete assembly has been converted for an OSR preview.

Model sources

Printable meshes and editable Fusion files are released separately. No matched complete assembly has been converted for an OSR preview.

Project notes

Keep PLEN2 and the later variants separate

The model repository maps f3d and stl to PLEN2. Folders marked bit, 5stack and mini describe different configurations. The inspected archive contains real editable F3D containers and printable meshes; their presence does not prove assembly fit or make every variant a complete open build. Use the PLEN2 folder mapping before preparing prints. [4]

The firmware targets PLEN's custom Arduino/Genuino Micro-compatible board using an ATmega32u4. “Arduino” in this guide does not mean that an arbitrary Nano or Uno is an equivalent replacement. Control-board and head-board design sources are released separately; manufacturing and electrical verification remain work for the builder. [2] [6] [7]

Bring up one motion at a time

The overview orders the workflow as acquiring boards and servos, installing firmware, printing and assembling, configuring joint home positions, then writing motions. It recommends firmware 1.4.1, ControlServer 2.4.1 and MotionEditor 1.4.0. The firmware README describes a historical Arduino IDE 1.6.5 environment. The separately preserved ControlServer release is 2.4.2, so its newer version should not silently replace the overview's recommendation. These are upstream version references, not a current host-compatibility test. [1] [2] [8]

For a first task, verify a single configured joint and its home position before transferring a scripted motion. This is a cautious starting sequence inferred from the documented calibration workflow; no flashing, movement or walking test was performed for this profile. [1]

ControlServer is a bridge between host HTTP requests and the robot's serial interface, connected by USB micro-B. Its README distinguishes launching a packaged desktop application from building the source, whose recorded environment includes Python 2.7.9 and older web dependencies. MotionEditor's source environment names Visual Studio 2013 and historical Windows versions. Treat those as legacy requirements to reconcile with the intended computer, rather than evidence of current compatibility. [8] [9] [11]

What we checked

Source research only. No firmware compilation, dependency installation, CAD fit or strength validation, assembly, calibration, runtime or physical performance test performed. No affiliate links or supplier endorsement. Upstream design/media files are linked, not redistributed.

Not yet established

  • Requirements: operating system, host computer

Updates

Upstream last updated
Dec 10, 2018 [14]
Latest release
Not established
Profile updated
Oct 28, 2026
Sources last checked
Oct 28, 2026
Next review
Nov 28, 2026
Reviewed revision
48d46cfcd7420499598d393226bc42ecbc5589f8 (commit snapshot; separately linked artifacts have their own revisions) · combined hardware and software repository

Source files and licenses

Include this distinct physical design for Inspect and reproduce the PLEN2 mechanism and scripted-motion workflow while matching board, model and software versions. The inspected artifacts support a bounded source-researched next step; they do not establish reproduced hardware or commercial support.

LayerAvailability / license
mechanical designavailable · CC-BY-4.0
STL and editable F3D container payloads inspected. Match PLEN2 folders, not PLEN:bit/PLEN5Stack/mini variants. [4] [5]
electronicsavailable · CC-BY-4.0
Separate EAGLE board sources preserved. Control-board README reserves Arduino Micro schematic rights to Arduino; its multi-servo interface, RS485 and EEPROM portions declare CC-BY-4.0. No EDA import or fabrication test. [6] [7]
firmwareavailable · MIT
[2] [3]
softwareavailable · MIT
ControlServer and MotionEditor source LICENSE files are MIT; separate LAWS.md adds usage requests whose relationship to the grant remains unresolved. Legacy host setup and dependency terms require matching; latest preserved ControlServer2.4.2 is not claimed compatible with the overview’s2.4.1 recommendation without testing. [8] [9] [10] [11] [12] [13]
documentationavailable · License not fully assessed
Useful repository setup exists; no single project-wide documentation license established across all linked sites. [1] [2]

No learned policy or dataset is selected for the documented first task.

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history