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Asimov Open-Sources a 12-DOF Bipedal Leg System

June 30, 2026 at 17:16 EDT

Robotics
Open Source

Asimov Inc. (Menlo Research) has open-sourced "Asimov v0," a bipedal leg system for humanoid robots featuring 12 degrees of freedom (DOF) and articulated toes. CAD files, a simulation model and a bill of materials (BOM) are distributed on GitHub, following a DIY-oriented approach built from off-the-shelf parts and 3D printing.

Menlo Research · Asimov v0

An open-source bipedal leg for humanoid robots — built from off-the-shelf parts

A complete two-leg subsystem with 12 degrees of freedom and passively compliant toes, released openly so small labs can reproduce and build on it — at roughly $10,000.

degrees of freedom
(6 per leg)

~$10k

cost of the full
leg subsystem

~100

days to design legs
and achieve walking

<$30k

total R&D cost
so far

Peak torque per joint (Nm)

Each block ≈ 12 Nm · 6 joints per leg

120

Hip
Pitch

Hip
Roll

Knee
Pitch

Hip
Yaw

Ankle
A

Ankle
B

Built for reproducibility

RSU ankle

Parallel revolute-spherical-universal mechanism — 2 DOF in pitch & roll with better torque sharing and backdrivability.

Passive toe

Non-actuated spring hinge bends on contact — aids ground adaptation, load distribution and push-off without added control.

Off-the-shelf build

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