Öppen källkod Mini humanoider och tvåbenta
Zeroth-01 Bot (K-skala)
En extremt billig, hackbar 3D-printad mini-humanoid från K-Scale Labs-communityt: 16 Feetech-bussservon, cirka 347 USD i elektronik, med heltäckande sim-till-riktig RL.
- Typ
- Mini humanoid
- DoF
- 16
- Servon
- Feetech STS3250 × 16
- Styrenhet
- Milk-V Duo S
- BOM-kostnad
- ≈ US$347 (elektronik)
- Status
- K-Skala stängde i november 2025; projekt med öppen källkod
- Öppna hårdvara och öppna kod
- Fullständig materialförteckning med leverantörslänkar
- Direktlänkar till original-CAD, kod och papper
01 — Projektdetaljer
Översikt, BOM och resurser
Overview
Zeroth-01 (formerly MicroStompy) is the K-Scale Labs community’s entry-level humanoid — “BOM starts at $350”. Printed parts plus 16 bus servos, with a camera, microphone and round display for vision and voice.
K-Scale Labs ceased operations in November 2025 and open-sourced all K-Bot and Zeroth Bot hardware and software (hardware CERN-OHL-S-2.0, software MIT). The old docs site is offline; GitHub is now the source of truth.
Key specifications
| Servos | 16 × Feetech STS3250 50 kg bus servos (STS3215 is too slow, no longer recommended) |
|---|---|
| Controller | Milk-V Duo S + Waveshare bus-servo adapter |
| Sensors | Adafruit 9-DoF IMU, Milk-V camera, microphone, 3 W speaker, RP2040 round LCD |
| Software | kos-zbot (robot OS), ksim-gym-zbot (RL training) |
Bill of materials
Electronics total ≈ US$347 (servos at historical price; current price varies by seller). Fasteners and prints are unpriced in the official BOM.
| Part | Model / spec | Qty | Unit | Subtotal | Supplier |
|---|---|---|---|---|---|
| Electronics | |||||
| STS3250 50KG Serial Bus Servo | 16 | $13.89 | $222.24 | aliexpress.us ↗ | |
| Milk-V | 1 | $10.00 | $10.00 | milkv.io ↗ | |
| Waveshare Bus Servo Adapter | 1 | $7.00 | $7.00 | waveshare.com ↗ | |
| RP2040 MCU Board | 1 | $16.00 | $16.00 | waveshare.com ↗ | |
| 9-DOF IMU | 1 | $29.95 | $29.95 | adafruit.com ↗ | |
| Milk-V CAM-GC2083 | 1 | $4.00 | $4.00 | arace.tech ↗ | |
| RC Lipos | 1 | $33.00 | $33.00 | amazon.com ↗ | |
| 12V to 5V, 3 amp capacity (may need connectors) | 1 | $3.00 | $3.00 | digikey.com ↗ | |
| Electret Microphone | 1 | $6.00 | $6.00 | amazon.com ↗ | |
| 3 Watt Speaker | 1 | $8.00 | $8.00 | amazon.com ↗ | |
| LM386 Mono Audio Amplifier | 1 | $8.00 | $8.00 | amazon.com ↗ | |
| Total | $347.19 | ||||
Optional items, tools and reference items (not counted)
| Part | Model / spec | Qty | Unit | Subtotal | Supplier |
|---|---|---|---|---|---|
| Fasteners | |||||
| Button Head Cap Screw | M3 x 10 mm | 14 | |||
| Button Head Cap Screw | M3 x 4.5 mm | 129 | |||
| Button Head Cap Screw | M2 x 5 mm | 80 | |||
| Socket Head Cap Screw | M2 x 5 mm | 12 | |||
| Heat-Set Insert | M3 | 13 | |||
| Heat-Set Insert | M2 | 14 | |||
| M3x12 screw + nut | M3 x 12 | 4 | |||
| Structural | |||||
| 3D-printed parts (see STL pack) | see print pack | ||||
| Total | $347.19 | ||||
3D printing & fabrication
- Official settings (Bambu): 0.16 mm layers, 5 walls, tree supports; filament is not specified — PLA or PETG both work.
- The official print pack has 22 STLs and a Bambu .3mf plate (hands, elbows, shoulders, head, neck, torso, hips, knees, ankles, feet).
CAD, code & papers
Get the large files — CAD, STL, STEP and code — straight from the original project:
- GitHub zeroth-bot ↗github.com
- Releases (URDF, CAD) ↗github.com
- Docs source (incl. STL) ↗github.com
- Custom PCBs ↗github.com
- Robot software kos-zbot ↗github.com
- RL training ksim-gym-zbot ↗github.com
- CAD (Onshape) ↗cad.onshape.com
License
The zeroth-bot repository currently carries only an MIT license (the README says MIT too). K-Scale’s November 2025 shutdown announcement says hardware is released under CERN-OHL-S-2.0 and software under MIT, but no CERN-OHL-S file has been added to the repository yet — follow the repository files and keep attribution.
Image credits
- Image 1: Zeroth Robotics / K-Scale Labs · repo MIT — source ↗
- Image 2: Zeroth Robotics / K-Scale Labs · repo MIT — source ↗
- Image 3: Zeroth Robotics / K-Scale Labs · repo MIT — source ↗
- Image 4: Zeroth Robotics / K-Scale Labs · repo MIT — source ↗
- Image 5: Zeroth Robotics / K-Scale Labs · repo MIT — source ↗
- Image 6: Zeroth Robotics / K-Scale Labs · repo MIT — source ↗
Källa: Bilder och data: Zeroth Robotics / K-Scale Labs community (GitHub zeroth-robotics, kscalelabs). Förvarskod MIT; vid avstängning tillkännagav K-Scale hårdvaran under CERN-OHL-S-2.0. Denna sida är inte ansluten till det ursprungliga projektet.
Skaffa delar
Var kan man få tag i delarna
Varje rad i stycklistan länkar till den leverantör som det ursprungliga teamet använde. Behöver du hjälp med att köpa delar eller 3D-printa strukturen? Berätta för oss vilken robot du bygger.
02 — Relaterade robotar
