Asimov v0, an open-source bipedal robotic legs

Asimov is a complete bipedal leg for humanoid robots, built with off-the-shelf components and compatible with low-volume manufacturing processes.

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Specifications

• 12 DOF actuation, 6 DOF per leg
• Articulated toe
• RSU (Revolute Spherical Universal) ankle mechanism
• MJF 3D printing compatible

Left Leg

Name	Joint	Min	Max	Peak Torque
L_Hip_Pitch	Hip flexion/extension	-120°	+57°	120 Nm
L_Hip_Roll	Hip abduction/adduction	-45°	+45°	90 Nm
L_Hip_Yaw	Hip rotation	-45°	+45°	60 Nm
L_Knee_Pitch	Knee flexion/extension	0°	+86°	75 Nm
L_Ankle_A	Ankle dorsi/plantarflexion	-70°	+70°	36 Nm
L_Ankle_B	Ankle inversion/eversion	-70°	+70°	36 Nm

Right Leg

Name	Joint	Min	Max	Peak Torque
R_Hip_Pitch	Hip flexion/extension	-57°	+120°	120 Nm
R_Hip_Roll	Hip abduction/adduction	-45°	+45°	90 Nm
R_Hip_Yaw	Hip rotation	-45°	+45°	60 Nm
R_Knee_Pitch	Knee flexion/extension	-86°	0°	75 Nm
R_Ankle_A	Ankle dorsi/plantarflexion	-70°	+70°	36 Nm
R_Ankle_B	Ankle inversion/eversion	-70°	+70°	36 Nm

Motors

• Motors from Encos

Joint	Model
Pitch	EC-A6416-P2-25
Roll	EC-A5013-H17-100
Yaw	EC-A3814-H14-107
Knee_Pitch	EC-A4315-P2-36
Ankle_A	EC-A4310-P2-36
Ankle_B	EC-A4310-P2-36

Support the project

Asimov is Menlo Research's open-source humanoid robot:

• If you want to support development: asimov.inc/early
• For partnerships: hello@menlo.ai