May 21, 2026
Description
License: CC BY-NC-SA 4.0 | GitHub Stars: ⭐
A Fully 3D-Printed Humanoid Robot Platform | Complete with Just a Bambu Lab A1 | Unbeatable Value
Designed and open-sourced by Zyuon Robotics
[🤖 Robot Design Files] | [🎬 Watch Demo on Bilibili] | [🌐 MakerWorld Project: DumBot13-Makerworld]
DumBot13 is a humanoid robot platform designed from scratch and fully open-sourced by Zyuon Robotics.
Unlike most commercially available solutions that rely on expensive CNC machining, DumBot13 achieves over 99% 3D-printed structural components. From load-bearing skeletons to bionic shells, from hip joints to complex ankles—all 80+ independent structural parts can be easily manufactured using widely available consumer-grade FDM 3D printers. While minimizing hardware manufacturing barriers, our clever structural design ensures the rigidity required for complex motion control.
"Do more complete things at lower cost."
The current open-source humanoid robot community often faces two extremes:
| Challenge | Description |
|---|---|
| 💰 High Cost | Prices reaching tens of thousands of yuan, excluding most developers, students, and researchers |
| 🧪 Low Completeness | Only basic walking demos available, lacking callable low-level control and upper-level software ecosystems |
DumBot13 aims to break this deadlock.
Enable any developer with a 3D printer to replicate a highly complete humanoid robot (both hardware and software) at a disruptive low cost. Paired with our simultaneously open-sourced complete software architecture, you can skip tedious groundwork and jump straight into secondary development—exploring gait algorithm validation, hardware-software decoupling design, and the endless possibilities of embodied AI.
Here's an overview of the core steps to assemble a complete DumBot13. Each step links to detailed sections below:
TODO: Add BOM (Bill of Materials)
Follow this sequence (detailed in Mechanical Design Details):
| Module | Key Steps |
|---|---|
| Torso | Print skeleton + shell, install main controller and battery compartment |
| Pelvis/Waist | Install waist motor and hip connection components |
| Legs | Install thigh, shin, ankle motors, and linkage transmission |
| Arms | Install shoulder, upper arm, forearm, and fist |
| Head | Install shell and sensors (optional) |
💡 Budget-conscious or just validating leg algorithms? Adopt the "Lower Body Only" assembly approach (legs + pelvis). See Flexible Assembly Options for details.
Altai-91humanoid-control repository on LubanCat 4Designed with "printability" as the top priority from day one:
| Printer Model | Compatibility | Notes |
|---|---|---|
| Bambu Lab A1 | ✅ Fully Compatible | All parts printable on single unit; build volume fully sufficient |
| Bambu Lab P2S | ✅ Fully Compatible | Primary development machine |
| Bambu Lab X2D | ✅ Fully Compatible | Primary development machine |
| Other Bambu Models | ✅ Theoretically Compatible | Not tested on non-Bambu machines |
📌 Project optimized for 256×256×256mm build volume. One A1 can print the entire robot (patience required!).
This isn't just a "barely standing" demo—it's a complete ecosystem spanning hardware design to algorithm deployment:
| Dimension | Content |
|---|---|
| Mechanical Design | Full humanoid structure: head, torso, dual arms, dual legs; 20+ DOF (see specs below) |
| 3D Print Files | Pre-configured 3MF files + STEP engineering source files, ready to use |
| Embedded Firmware | PCB designs and code for power, control, and communication boards |
| RL Training Code | humanoid-env training framework |
| Real-World Deployment | humanoid-control deployment framework |
Thanks to this full-stack, modular completeness, whether you're an algorithm researcher, hardcore maker, or embedded developer, you can quickly find your entry point and focus on personalized customization.
Compared to existing open-source humanoid projects, DumBot13 achieves order-of-magnitude cost reduction. Core costs focus on two key components: main controller and servo motors (see Cost Breakdown). Previously expensive mechanical structures are elegantly solved via 3D printing. Through continuous hardware-software co-optimization and algorithm iteration, we achieve highly agile, human-like motion control within extreme cost constraints.
Limited budget? Only want to validate leg algorithms? Adopt the "Lower Body Only" (legs + pelvis) lightweight configuration to significantly reduce arm motor costs. This modular flexibility is unmatched by traditional fixed-form robots. Plus, with fully open-sourced structural files and 3D printing, you can effortlessly expand with personalized equipment (sensors, etc.) for diverse project possibilities.
| Parameter | Value |
|---|---|
| Total DOF | 21/23 DOF |
| Leg DOF (each) | 6 DOF |
| Arm DOF (each) | 4-5 DOF |
| Waist DOF | 1 DOF |
| Head DOF | None (future: 1 DOF planned) |
| Height | ~120 cm |
| Weight | ~17 kg |
| Actuators | Damiao (DM) Brushless Servo Motors (4310 / 4340) |
| Main Controller | LubanCat 4 |
| Structural Material | PETG |
| Non-Printed Parts | Rocker arms (CNC aluminum), linkages (off-the-shelf), fasteners, bearings |
| Compatible Printers | Bambu Lab A1 / P2S / X2D (recommended; other Bambu models compatible) |
The robot uses a classic serial-joint humanoid architecture centered on the torso:
[Head]
|
[Torso] ←→ [Left Arm] [Right Arm]
|
[Pelvis/Waist]
├── [Left Leg]
└── [Right Leg]
Each leg has 3 joints driven by 6 motors (6 DOF total):
| Joint | Motor Count | Motion & Motor Model |
|---|---|---|
| Hip | 3 | Pitch (DM4340) + Roll (DM4340) + Yaw (DM4310) |
| Knee | 1 | Pitch (DM4340) |
| Ankle | 2 | Pitch (DM4340) + Roll (DM4340) |
Kinematic Chain: Hip → Thigh → Knee → Shin → Ankle → Foot
Each arm has 3 joints driven by 4-5 motors (4-5 DOF):
| Joint | Motor Count | Motion & Motor Model |
|---|---|---|
| Shoulder | 3 | Pitch (DM4310) + Roll (DM4310) + Yaw (DM4310) |
| Elbow | 1 | Pitch (DM4310) |
| Wrist | 1 (optional) | Roll (DM4310) |
Kinematic Chain: Shoulder → Upper Arm → Elbow → Wrist (optional) → Fist
The torso is the core structural component, supporting the main controller, battery, and all upper-body loads. We use a skeleton + shell layered design:
The pelvis handles the highest mechanical loads—supporting the entire upper body while providing pitch rotation for the legs.
Each leg features 6 DOF forming a complete serial kinematic chain from hip to ankle. Simplified design reduces part count and assembly complexity:
Legs are left/right symmetric. Each leg requires only two main structural prints (thigh + shin), dramatically lowering printing and assembly barriers.
Each arm has 4-5 DOF with similarly simplified design:
Arms are left/right symmetric.
Two-piece shell design; interior accommodates small sensors or camera modules. Current version has no servo DOF, but can be easily modified to add 1 yaw DOF if needed.
While >99% of parts are 3D printable, a few components require external sourcing:
| Part | Manufacturing Method | Notes |
|---|---|---|
| Rocker Arms | CNC (Aluminum) | Connects ankle pitch motor output shaft to rod-end bearings; requires high strength/precision. Affordable via JLCPCB, QuanZhou, etc. |
| Linkages | Off-the-shelf standard parts | Auxiliary linkages for certain joints; available from hardware suppliers |
| Fasteners | Standard hardware | M3/M4 bolts, nuts, washers, etc. |
| Bearings | Standard bearings | Deep-groove ball bearings, etc. |
A high-performance Chinese SBC based on Rockchip RK3588, providing powerful compute for the robot:
We use an external RTL8822CE module for wireless communication; requires a mini PCIe half-height to full-height bracket.
Two motor models used throughout:
| Model | Application | Qty (Full Body) | Qty (Legs Only) |
|---|---|---|---|
| DM4340 | High-torque joints: hips, knees | 10 | 10 |
| DM4310 | Shoulders, elbows, ankles | 11 | 2 |
🔗 [Buy DM4310] | [Buy DM4340]
Damiao motors support CAN bus communication, offering high-precision position feedback, torque control, and fast response—ideal for robotic joint actuation.
(Diagram placeholder – refer to repository for detailed schematics)
DumBot13 delivers exceptional hardware value: complete robot under ¥18,000 RMB (~$2,500 USD). Approximate cost breakdown:
| Item | Model/Spec | Approx. Cost (RMB) | Notes |
|---|---|---|---|
| Main Controller | LubanCat 4 | ¥1,200 | Largest single expense |
| CAN Communication Board | DM-MC02 Robot Dev Board | ¥200 | Alternative comms solutions possible; requires ≥3x FDCAN |
| Motors ×21 | DM4340 ×10 + DM4310 ×11 | ¥14,600 | Core cost; reduce with legs-only config |
| Power Board | JLCPCB prototype | ¥200 | Requires manual soldering; future pre-assembled option planned |
| 3D Printing Filament | PETG ~8-10 kg | ~¥300 | Extremely low manufacturing cost |
| CNC Parts | Aluminum rocker arms | ~¥100 | Only externally processed part |
| Fasteners & Bearings | Standard hardware | ~¥200 | Very low cost |
| Battery | 48V pack | ¥600 | Customizable via Taobao vendors |
| Miscellaneous | Linkages, wires, connectors | ~¥100 |
💡 Legs-Only Configuration: Assemble lower body only (legs + pelvis) to eliminate 8× DM4310 arm motors—significant cost savings.
📊 Compared to similar open-source humanoid projects, DumBot13 costs only 1/3 to 1/5 as much—currently the most cost-effective open-source humanoid solution available.
Our open-source commitment extends beyond mechanics—we provide a complete software stack:
| Module | Description | Repository |
|---|---|---|
| Control Framework | ROS 2-based robot control: joint control, motion commands, etc. | humanoid-control |
| Training Framework | Pure RL walking, BeyondMimic training environments | humanoid-env |
| Retargeting Framework | Convert SMPL, BVH, and other motion capture formats to arbitrary robot configurations | humanoid-retargeting |
| Robot Description Format | Custom HRDF format, redesigned for humanoid robots | humanoid-robot-description |
Q: Must I use a Bambu Lab printer?
A: Our testing and optimization were done on Bambu machines. Theoretically, other FDM printers can work, but you may need to adjust parameters. We strongly recommend Bambu printers for best results.
Q: Is a single A1 really enough?
A: Yes. All parts are designed ≤256mm³. Our build volume claims are thoroughly validated.
Q: Can I skip CNC for rocker arms?
A: Not recommended. Rocker arms transmit critical motor torque; 3D-printed layer adhesion may fail under sustained high torque. CNC aluminum rocker arms are inexpensive (~¥50-100 via JLCPCB/QuanZhou).
Q: Can I print with PLA?
A: Suitable for prototyping. However, PLA's creep properties may cause joint loosening during long-term use. We recommend PETG or ABS for final builds.
Q: How do I get technical support?
A: Currently, ask questions in the project's GitHub Issues. We plan to establish an official WeChat discussion group soon.
This project is designed and developed by Zyuon Robotics.
We welcome contributions via:
🌐 English Summary: DumBot13 is a fully open-source, 3D-printable humanoid robot platform designed for accessibility and completeness. With >99% printable parts, compatibility with entry-level printers like the Bambu Lab A1, and a full software stack (ROS 2, RL training, deployment tools), it empowers developers worldwide to build, customize, and innovate on human-scale robotics—at a fraction of traditional costs.
Last Updated: 2026 | Designed by Zyuon Robotics 🤖✨
License:
Creative Commons - Attribution - Share Alike
