How to build SigmaBan (Rhoban)
20-DoF humanoid robot · Expert
SigmaBan is Rhoban's championship RoboCup kid-size humanoid. Its Onshape design is exported to URDF and MuJoCo with onshape-to-robot.
Research-grade: machining, motor drivers and control theory.
Our estimate, part-time
Price the BOM yourself
License not stated
What is SigmaBan (Rhoban)?
SigmaBan is the kid-size soccer humanoid from Rhoban (LaBRI, University of Bordeaux), several times RoboCup Humanoid League champion. It's built around Dynamixel MX-64/MX-106-class actuators, with foot load cells, a 4S LiPo, a PointGrey camera and an Intel NUC.
The public release is a simulation reference rather than a build kit. Using Rhoban's onshape-to-robot tool, the Onshape design is exported as a fully articulated URDF and MuJoCo model with per-link meshes and simplified collision shapes.
There's no costed BOM, wiring diagram or firmware here, and no licence is stated for the Onshape design.
SigmaBan (Rhoban) specifications
- DoF
- 20
- Actuators
- Dynamixel MX-64 / MX-106 class
- Sensors
- Foot load cells, camera, IMU
- Compute
- Intel NUC
- Exports
- URDF, MuJoCo
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| No buildable BOM is published | — | Model files only |
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
- Python with onshape-to-robot
- PyBullet or MuJoCo
Step-by-step build overview
Electronics & wiring overview
Not published.
Software
onshape-to-robot (MIT) generates the URDF and MJCF files.
Tips from the bench
- ☕ Useful as a well-made model for learning sim-to-real workflows, even without hardware.
SigmaBan (Rhoban) FAQ
Can I build SigmaBan?
Not from this release; it's a simulation export with no BOM or firmware.
What is onshape-to-robot?
Rhoban's tool that turns Onshape assemblies into URDF, SDF and MuJoCo models.
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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