THE COLLECTION / BIPEDS
Two-legged walkers, from small expressive characters to platforms for learned locomotion.
Bipedhuggingface40 GitHub stars, snapshot Oct 30, 2026
3D-printed · actuators not documented
A biped platform with exported STL parts, public Onshape CAD, a bill of materials and assembly documentation.
Antoine Pirrone and contributors4,338 GitHub stars, snapshot Oct 21, 2026
3D-printed · actuators not documented
A 42 cm take on Disney’s BDX droid that learns to walk with reinforcement learning in MuJoCo.
BipedLuwu Dynamics1,644 GitHub stars, snapshot Oct 30, 2026
3D-printed · 15 actuators
A duck-shaped, 3D-printable biped built around an Arduino UNO Q and 15 serial servos.
Side by side
The maker’s own figures, with their scope. Open parts count the six parts we check on every project.
| Robot | Maker’s cost | Actuators | Build | Open parts | Can you sell it? | GitHub stars |
|---|---|---|---|---|---|---|
| LeRobot Humanoidhuggingface | Not documented | Not documented | 3D-printed | 4 of 6 | Yes | 40 |
| Open Duck Mini v2Antoine Pirrone and contributors | Under $400full BOM | Not documented | 3D-printed | 3 of 6 | Check the licenses first | 4,338 |
| XGO-DuckLuwu Dynamics | Not documented | 15 | 3D-printed | 4 of 6 | Check the licenses first | 1,644 |
Before you build
Most open bipeds rely on a trained policy. Check whether the training pipeline and runtime are published, not just the body.
Printed parts are cheap; servos and electronics are not. Compare the maker’s documented cost and what it covers.
Recent commits and an active community help when a joint or a firmware update goes wrong.
Costs are the maker’s documented figures, with their original scope. Stars are recorded GitHub snapshots, never a quality score. Search the whole collection
