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How to build LeRobot Humanoid (Biped Platform)

12-DoF bipedal walker · Advanced

Build Hugging Face's LeRobot Humanoid biped platform: 12 RobStride actuators, a Raspberry Pi 5 CAN-FD stack, 75 printed parts and a $2,636 BOM.

Start the buildProject files
Difficulty
Advanced

Many actuators, custom wiring and real tuning work.

Build time
1–3 months

Our estimate, part-time

Parts cost
$2,635

$2,635.84 per the project's estimate (April 2026), including ≈3.5 kg PLA+ and excluding shipping and taxes

Degrees of freedom
12

Apache-2.0

What is LeRobot Humanoid (Biped Platform)?

The LeRobot Humanoid biped is Hugging Face's open lower body for a humanoid: two legs, hips, base and torso hardware, built around RobStride quasi-direct-drive actuators and a Raspberry Pi 5.

The CAD is a public Onshape document, exported as 75 printed parts. Knees and ankles are closed-chain linkages with shoulder screws and spherical joints. The repo includes buy-list and print-list BOMs, wiring and connector maps, a first power-on procedure, and a Python commissioning wizard.

Its docs are written so a builder can work through them with an AI assistant, in a strict order with checks at each stage.

LeRobot Humanoid (Biped Platform) specifications

DoF
12 (legs)
Actuators
RobStride O0 ×2, O2 ×2, O3 ×4, O5 ×4
Compute
Raspberry Pi 5
Bus
CAN-FD via SAVVYCANFD 2-channel adapter
Printed parts
75, ≈3.5 kg PLA+

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
RobStride O3 actuator4≈$225 each (project estimate)
RobStride O5 actuator4≈$110 each
RobStride O2 actuator2≈$145 each
RobStride O0 actuator2≈$125 each
Raspberry Pi 51
SAVVYCANFD 2CH USB CAN-FD adapter1The only adapter the project has verified
Shoulder screws, spherical joints, PLA+—
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 $2,635 as a ballpark from the project. Start at the project repository.

Tools you'll need

  • FDM printer
  • Hex keys
  • Crimp tools
  • Bench power supply

Step-by-step build overview

Electronics & wiring overview

Two CAN-FD channels from the SAVVYCANFD adapter on the Pi 5 run to the leg actuators; the wiring docs give connector-by-connector maps.

Battery packpower sourceLaptop / PChigh-level controlIMUsensingRaspberry Pireal-time controllerServo bus adapterdrivers / busRobstride actuators12 joints / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

LeRobotPython

A separate lerobot-humanoid-runtime repo provides the runtime; the hardware repo has the Python commissioning wizard.

Tips from the bench

  • ☕ Use the specified CAN-FD adapter; others aren't verified.
  • ☕ Power up the first time on a current-limited bench supply.

LeRobot Humanoid (Biped Platform) FAQ

How much does the LeRobot biped cost?

The project estimates about $2,636 in parts including filament, before shipping and taxes.

Does it include arms?

No. This is the lower body plus torso hardware.

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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