ToddlerBot is a 0.56 m, 3.4 kg fully 3D-printed humanoid from Stanford, built from Dynamixel servos and a Jetson Orin, aimed at machine-learning research. The open release covers CAD, print files, a PCB, and a Python stack for reinforcement-learning walking, teleoperation and imitation learning, and version 2.0 added crawling and a cartwheel.
At a glance
| Parts cost | under $6,000 project · The project states a total under $6,000 source ↗ |
|---|---|
| Difficulty | 4/5 Advanced · Well documented and robust, but costly Dynamixel servos, a PCB order, Jetson setup and a GPU-based RL training stack. |
| Build time | Not stated |
| Tools needed | 3D printer (Bambu Lab recommended, print files provided as 3MF), soldering for power and battery cables (unconfirmed), PCB ordered assembled from JLCPCB |
| Motors | Dynamixel XC330, XC430 and 2XC430/2XL430 servos (2xc and 2xm variants) |
| Controller | NVIDIA Jetson Orin NX 16GB on board, custom 8-channel PCB |
| Sensors | BNO08x IMU, stereo cameras, microphones, speaker, optional foot force sensors |
| Published | ✓ Parts list✓ CAD/STL✓ Assembly guide✓ Wiring✓ Software✓ Video Sphinx docs site + GitHub README, Google Sheets parts list, Onshape CAD, MakerWorld print files, YouTube assembly playlist, interactive manual on tnkr.ai |
| Activity | Last update 2026-07-31 · 779 GitHub stars · Discord and WeChat groups, GitHub issues are the official support channel, 94 forks |
| Kits | None known |
Licenses
No license is stated for the design files. They are published for building, but without a license the right to copy, modify or redistribute them is not granted.
| Design files | None found separately (CAD is on Onshape and MakerWorld; the repo MIT license names only software and documentation) source ↗ |
|---|---|
| Code | MIT source ↗ |
| Documentation | MIT (docs folder is inside the MIT-licensed repo); docs site footer says only 'Copyright 2025, ToddlerBot' source ↗ |
Builder notes
Practical points from the project's issue tracker, forum and docs, each linked to its source.
- The 2.0 assembly manual is still being rebuilt as an interactive guide, so builders of 2.0 work from overview videos, the Onshape document and the older step-by-step manual. The parts list marks which items changed for anyone upgrading from 1.0. source ↗
- A user found the parts list listing 2XC430 servos for the palm while the Onshape 2xm palm used 2XL430, so it is worth cross-checking the parts list against the CAD variant being built. source ↗
- The XC330 servos cannot hold a 4 Mbps bus rate in this setup, so all motors should be set to 2 Mbps. There is no room for an HDMI cable to the Jetson inside the torso, so SSH is the practical way in. source ↗
- Some PCB connectors (JST EH plug, 2x6 pin socket, terminal block) are often out of stock at JLCPCB, and the docs list substitute part numbers. source ↗
- The maintainers only answer GitHub issues and say they may ignore questions that are covered by the docs, tips page or assembly videos. source ↗
Other humanoids plans
- InMoov · $1,300–$1,400 · difficulty 3/5
- Berkeley Humanoid Lite · under $5,000 · difficulty 4/5
- Poppy Humanoid · $8,500 (2021) · difficulty 3/5
- Asimov 1 (Menlo Research) · $20,000 · difficulty 5/5