Asimov 1: Open-Source Humanoid Robot

Asimov is an open-source humanoid robot that you can build, train and customize.

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Asimov 1 is a 1.2 m, 35 kg biped with 25 actuated degrees of freedom. This repository contains the mechanical CAD, electrical CAD, simulation model, and onboard software to build, simulate, and customize Asimov 1.

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Specifications

Spec	Value
Height	1.2 m
Weight	35 kg
Degrees of Freedom	25 actuated
Legs	6 DOF x 2
Arms	5 DOF x 2 (shoulder pitch/roll/yaw, elbow, wrist yaw)
Torso	1 DOF waist yaw, 10 W 4 ohm speaker, 6 DOF IMU
Head	2 DOF neck (neck yaw, neck pitch), stereo microphone array, 2MP monocular camera
CAN Bus	5 @ 1Mbps + 1 @ 500kbps
Onboard Compute	Raspberry Pi 5 (media + network) + Radxa CM5 (motion control)
Structural Materials	7075 aluminium, MJF PA12 nylon

Activity	Rated Load	Peak Load
Squat	5 kg	-
Bicep curl	5 kg each arm	15 kg each arm
Front raise	5 kg each arm	15 kg each arm
Lateral raise	6 kg each arm	18 kg each arm

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Build your own Asimov

[!TIP] Option 1: DIY Kit: Everything you need to build Asimov 1, unassembled. Shipping now for $20,000. Order now →

[!NOTE] Option 2: Self-source: Pull the BOM and fabricate everything yourself. Assembly Manual →

DIY Kit

Category	Included	Not Included
Hardware	All BOM components (unassembled), power supply & cabling, spare parts	Tools, hands
Compute	RPi edge board, motion control board, network board, power distribution board	4G/5G modules
Sensors	Monocular camera, IMUs, mic, speaker, motor joint states	Lidar, 360 cam
Docs	Quick start guide, manual, DIY build videos	—

Pre-order the Asimov 1 DIY Kit →

Self-source

Start with the repo-local fabrication manifest for the CAD-derived part inventory, then cross-reference the BOM and assembly manual for procurement details, sourcing, and fabrication notes.

The shoe accessory is supplied as a single ASV1_Shoes.STL. The shoes are symmetric and the same geometry fits either foot: print two identical copies in TPU 95A using FDM, one per foot.

The dummy hands are supplied as ASV1_DUMMY_HANDS.3mf, a Bambu Studio project with embedded printing settings. See the mechanical fabrication guide for the part-naming chart and material/process classes, and the stool accessory for its CAD, BOM, and fabrication specifications.

Assembly Manual →

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Fabrication manifest

The fabrication manifest inventories STEP and STL files under mechanical/ASV1/*/FABRICATION. Accessories have their own documentation under mechanical/accessories. Regenerate the manifest after changing the robot fabrication files, then verify it:

python3 scripts/generate_fabrication_manifest.py
python3 scripts/generate_fabrication_manifest.py --check

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Roadmap

Status	Item
✅	Mechanical CAD — 7 subassemblies
✅	MuJoCo simulation model
✅	Electrical wiring harness
✅	Electrical schematics & PCB files
🔜	Asimov Edge
🔜	Locomotion policy

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Work with us

• Build questions?: Ask in the forum or open a GitHub Issue for bugs and contributions.
• Deploying Asimov?: Talk to us →
• Supply chain partner?: If you manufacture actuators, structural components, or electronics and want to be part of the Asimov supply chain, reach out. [email protected]