How to build InMoov
30-DoF humanoid robot · Expert
Build InMoov, Gael Langevin's life-size open-source humanoid: printed on a 12 cm bed, hobby servos, Arduino Megas and MyRobotLab control.
Research-grade: machining, motor drivers and control theory.
Our estimate, part-time
Price the BOM yourself
CC BY-NC · non-commercial
What is InMoov?
InMoov is where maker humanoids started. French sculptor Gael Langevin began it in January 2012 as a printable hand and grew it into a full life-size robot with a head, eyes, jaw, arms, hands and torso.
Every plastic part is sized for a 12 × 12 × 12 cm print bed, so almost any printer can build it, a few pieces just over by millimetres. Hobby servos do the moving: HK15298B and MG996R units in the hands and wrists, and big Hitec HS805BB servos in the shoulders, arms and neck.
Two Arduino Megas talk to MyRobotLab, the Java framework that handles speech, vision and gestures. STLs, tutorials and BOMs live on inmoov.fr under a Creative Commons non-commercial licence.
InMoov specifications
- Size
- Life-size upper body
- Print bed
- 12 × 12 × 12 cm
- Servos
- HK15298B, MG996R, Hitec HS805BB
- Controllers
- 2× Arduino Mega
- Software
- MyRobotLab
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Arduino Mega | 2 | |
| HK15298B servos | 10 | Fingers |
| MG996R servos | 2 | Wrist rotation |
| Hitec HS805BB servos | 8+ | Shoulders and arms, plus head |
| Nervo board shields | 2 | One per side |
| Braided line, springs, M3/M4/M8 screws, ribbon cable | — | |
| 6 V battery or high-current supply | — |
Where's the full bill of materials?
The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat Not published as a ballpark. Start at the project repository.
Tools you'll need
- FDM printer (ABS preferred, PLA works)
- Acetone or glue for joining parts
- Soldering iron
- Drill
Step-by-step build overview
Electronics & wiring overview
Each side of the body has its own Arduino Mega and Nervo board. Servos need a separate high-current 6 V supply, never the Arduino's regulator.
Software
The project ships its own firmware and control code. See the repository for setup.
MyRobotLab runs the InMoov service with speech, face tracking and scripted gestures; the Megas run its MRLComm firmware.
Tips from the bench
- ☕ Shoulder servos take the most load; the project recommends stronger ones than the minimum.
- ☕ Build one arm fully before printing the rest.
InMoov FAQ
How big a printer do I need?
A 12 × 12 × 12 cm bed covers almost every part.
Can I sell an InMoov?
No, the design is licensed for non-commercial use.
How much does it cost?
No current total is published. The older BOM prices are out of date.
Sources
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
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