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How to build pib (printable intelligent bot)

26-DoF humanoid robot · Advanced

Build pib, isento's 3D-printable humanoid upper body with tendon hands, Tinkerforge servo control, a Raspberry Pi 5 and ROS 2 software.

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
€3,145

€3,145 incl. VAT for the pib#5 Makerbox of non-printed parts; filament not included

Degrees of freedom
26

GPL-3.0

What is pib (printable intelligent bot)?

pib, short for printable intelligent bot, is a free humanoid from isento GmbH in Germany, made for learning AI and robotics hands-on. It's an upper body: a head on a moving neck, two arms and tendon-driven hands, mounted to a bench or rig.

All the plastic parts are in the pib-stls library, grouped into head, body, arm and hand. The pib#5 set replaced pib#4 in September 2026. Servos are driven by Tinkerforge Servo Bricklets from a Raspberry Pi 5 running a ROS 2 backend, with a web app called Cerebra for control.

If you'd rather not source parts, isento sells the non-printed parts as the pib#5 Makerbox.

pib (printable intelligent bot) specifications

Form
Humanoid upper body
DoF
26 (arms, hands, head)
Compute
Raspberry Pi 5 (8 GB)
Servo control
Tinkerforge Servo Bricklet 2.0
Software
ROS 2 backend, Cerebra web UI

Figures as published by the project. See Sources below.

Bill of materials

PartQtyNotes
TowerPro MG996R, DS1150SSG and DS5180 servos—Per the Makerbox
Raspberry Pi 5 with touchscreen and camera—
Tinkerforge Servo Bricklets and RGB LED—
Screws, bearings and tendon line—
≈11–12 kg PETG—Printed parts
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 €3,145 as a ballpark from the project. Start at the project repository.

Tools you'll need

  • FDM printer (PETG)
  • Hex drivers
  • Soldering iron

Step-by-step build overview

Electronics & wiring overview

Tinkerforge bricklets on the Pi drive the servos and handle feedback; the servos need their own power supply.

Battery packpower sourceLaptop / PChigh-level controlcamerasensingRaspberry Pireal-time controllerServo bus adapterdrivers / busMG996R hobby servos26 joints / motors
PowerData / commandsSensor feedbackOverview only. Follow the project's own schematic for pinouts and voltages.

Software

ROS 2

pib-backend (ROS 2) and the Cerebra web app. The backend repo is AGPL-3.0.

Tips from the bench

  • ☕ It's a lot of filament; budget printer time before you start.

pib (printable intelligent bot) FAQ

Does pib walk?

No, it's an upper body meant for bench mounting.

What license?

The STL repo's LICENSE file is GPL-3.0 (the FAQ says AGPL-3.0); the backend is AGPL-3.0.

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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