オープンソース ヒューマノイド
OpenLoong （ Qinglong ）フルサイズヒューマノイド
中国国家および地方のヒューマノイド ロボティクス イノベーション センターと OpenAtom Foundation が共同構築したフルサイズの汎用ヒューマノイド: EtherCAT ジョイントを備えた 43 アクティブ自由度、オープンなエンジニアリング図面と回路図を備えています。
- タイプ
- フルサイズの人型ロボット
- 自由度
- 43 (アクティブ)
- 体重
- 80kg
- ペイロード
- ≥ 20 kg
- ジョイント
- EtherCAT、11.5 ～ 396 N·m ピーク
- 構造
- 機械加工された金属
- オープンハードウェアとオープンコード
- サプライヤーリンクを含む完全な部品表
- オリジナルの CAD、コード、論文への直接リンク
01 — プロジェクト詳細
概要・BOM・資料
Overview
Qinglong is one of the few full-size humanoids with open hardware drawings: waist, chest, head sensing and legs all ship as 2D drawings (PDF) and 3D models (STEP), and V2.5 adds the full assembly and electrical schematics.
Its dynamics control framework, openloong-dyn-control, uses MPC + WBC and runs in MuJoCo. Being a machined-metal robot, it is best used as a reference for engineering drawings and system architecture rather than a desktop-printing build.
Key specifications
| Peak joint torque | Hip / knee 396 N·m, waist 315 N·m, ankle 208 N·m, shoulder 80 N·m, neck 26 N·m |
|---|---|
| Arms | 7 DoF per arm, 600 mm reach, ±0.2 mm repeatability |
| Dexterous hand | 19 DoF (6 active), ≤ 600 g, ≥ 5 kg payload |
| Bus & drives | EtherCAT; drives 11–95 VDC, current loop ≥ 10 kHz |
Bill of materials
No official BOM is published. Below is a part/drawing-number list compiled from the official drawing file names (178 items); quantities follow the drawings.
| Drawing no. | Name (as in drawings) | Type | File status |
|---|---|---|---|
| TA00-03-00-腰部组件-三维图纸 | |||
| TA00-03-0001 | 腰部支架1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0002 | 前部补盲相机支架1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0003 | 前部相机转接块1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0004 | 腰部周转轴承挡圈1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0005 | 腰部周转电机轴1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0006 | 侧摆电机支架1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0007 | 前摆电机支架1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0008 | 腰部侧摆supports转轴1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0009 | 腰部侧摆轴承挡圈1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0010 | 腰部侧摆轴承锁紧螺钉1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0011 | 腰部俯仰轴承挡圈1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0012 | 腰部俯仰supports转轴1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0013 | 腰部周转固定支架1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0014 | 腰部周转固定支架镜像1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-01-0002 | 腰部转接板105311 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-00-胸腔系统-三维图纸 | |||
| TA00-04-01-0001 | 手臂吊装 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-0003 | 后supports板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-0004 | 后supports板（镜像） | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-0005 | 前supports板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-0006 | 前supports板（镜像） | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-0007 | 上supports板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-01-0002 | 腰部转接板1105310604 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-02-0001 | 上固定板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-02-0002 | 侧固定板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-02-0003 | 后安装侧板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-02-0004 | 后安装侧板（镜像） | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-02-0005 | 防尘板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0001 | 头部固定座 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0002 | 安装转接件 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0003 | 电台固定板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0004 | 主控固定板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0005 | WIFI模块散热板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0006 | 交换机固定板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0007 | 雷达固定件 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0008 | 转接盒固定件 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-04-0001 | 前保护支架 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-04-0002 | 后保护支架 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-00-头部感知系统-三维图纸 | |||
| TA00-07-01-0002 | 感知头视窗V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0004 | 前装配板V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0005 | 后装配板V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0006 | 框架底板V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0007 | 侧面supportsV2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0008 | 侧面supports2V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0009 | 周转输出结构件V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0010 | 侧面支架V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0011 | 框架顶板V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0012 | 双目相机支架V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0013 | 俯仰悬臂结构件V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0014 | 俯仰输出结构件V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0015 | 俯仰悬臂结构连接件V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0016 | 摄像头支架（左）V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0017 | 摄像头支架（右）V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-腿足系统-三维图纸 | |||
| TA00-12-00-0001 | 膝关节销轴 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0002 | 膝关节销轴锁紧螺钉 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0003 | 连杆销针C | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0004 | 连杆衬套B | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0006 | 脚踝俯仰轴 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0007 | 脚踝俯仰轴 B | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0011 | 脚踝俯仰轴垫片 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0013 | 十字俯仰轴 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0014 | 十字侧摆轴 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0015 | 十字侧摆轴衬套 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0016 | 踝关节锁紧螺钉 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0017 | 十字俯仰轴关节衬套 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0018 | 膝关节轴承垫片 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0001 | 髋关节俯仰电机法兰 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0002 | 俯仰电机supports架 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0003 | 右大腿支架 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0004 | 膝关节电机关节轴 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0005 | 轴承锁紧螺母 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0006 | 轴承钢套 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0007 | 摇臂 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0008 | 连杆销针 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0009 | 连杆锁紧螺钉B | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0010 | 连杆 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0011 | 连杆衬套 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0012 | supports轴B | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0015 | 髋关节俯仰限位块 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-04-0001 | 右小腿支架 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-04-0002 | A1小腿曲柄 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-04-0003 | 小腿拉杆A | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-04-0004 | 小腿拉杆C | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-04-0005 | 右小腿下限位 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-04-0006 | 右小腿上限位 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-06-0001 | 足本体 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-06-0002 | 足底后橡胶垫 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-06-0003 | 足底前橡胶垫 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-06-0004 | 足底端盖 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-各模块装配体-三维图纸 | |||
| TA00-03 | 腰部支架组件-装配体 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-00 | 胸腔(无外壳) | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-00 | 胸腔(有外壳) | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07 | 头部组件-装配体 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00 | 腿部系统(无外壳) | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00 | 腿部系统(有外壳全) | 3D STEP | git-lfs pointer — clone upstream |
| TA00 | 青龙人形机器人-总装配 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-00-腰部组件-二维图纸 | |||
| TA00-03-0001 | 腰部支架 | 2D drawing (PDF) | Real file |
| TA00-03-0002 | 前部补盲相机支架 | 2D drawing (PDF) | Real file |
| TA00-03-0003 | 侧摆电机支架 | 2D drawing (PDF) | Real file |
| TA00-03-0004 | 前摆电机支架 | 2D drawing (PDF) | Real file |
| TA00-03-0005 | 腰部supports转轴 | 2D drawing (PDF) | Real file |
| TA00-03-0006 | 定位销 | 2D drawing (PDF) | Real file |
| TA00-03-0007 | 定位销把手 | 2D drawing (PDF) | Real file |
| TA00-03-0008 | 尾部补盲相机支架 | 2D drawing (PDF) | Real file |
| TA00-03-0009 | 周转固定片 | 2D drawing (PDF) | Real file |
| TA00-04-00-胸腔系统-二维图纸 | |||
| TA00-04-0001 | 前胸机架 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0002 | 吊环（右） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0003 | 吊环（左） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0004 | 雷达转接板 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0005 | WIFI散热板 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0006 | 交换机固定件 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0007 | 主控固定件 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0008 | 主控固定件（副） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0009 | 云盒supports板 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0010 | 电池固定板 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0011 | 电池固定板（副） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0012 | 环视固定件（后） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0013 | 环视固定件（后镜像） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0014 | 环视固定件（前） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0015 | 环视固定件（前镜像） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0016 | 后支架 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-07-0001 | 圆柱基座 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-07-00-头部感知系统-二维图纸 | |||
| TA00-07-01-0003 | TA00-07-01-0003 | 2D drawing (PDF) | Real file |
| TA00-07-01-0004 | TA00-07-01-0004 | 2D drawing (PDF) | Real file |
| TA00-07-01-0005 | TA00-07-01-0005 | 2D drawing (PDF) | Real file |
| TA00-07-01-0006 | TA00-07-01-0006 | 2D drawing (PDF) | Real file |
| TA00-07-01-0007 | TA00-07-01-0007 | 2D drawing (PDF) | Real file |
| TA00-07-01-0008 | TA00-07-01-0008 | 2D drawing (PDF) | Real file |
| TA00-07-01-0009 | TA00-07-01-0009 | 2D drawing (PDF) | Real file |
| TA00-07-01-0010 | TA00-07-01-0010 | 2D drawing (PDF) | Real file |
| TA00-07-01-0011 | TA00-07-01-0011 | 2D drawing (PDF) | Real file |
| TA00-07-01-0012 | TA00-07-01-0012 | 2D drawing (PDF) | Real file |
| TA00-07-01-0013 | TA00-07-01-0013 | 2D drawing (PDF) | Real file |
| TA00-07-01-0014 | TA00-07-01-0014 | 2D drawing (PDF) | Real file |
| TA00-07-01-0015 | TA00-07-01-0015 | 2D drawing (PDF) | Real file |
| TA00-12-00-腿足系统-二维图纸 | |||
| TA00-12-00-0001 | 膝关节销轴 | 2D drawing (PDF) | Real file |
| TA00-12-00-0002 | 膝关节销轴锁紧螺钉 | 2D drawing (PDF) | Real file |
| TA00-12-00-0003 | A1连杆销针C | 2D drawing (PDF) | Real file |
| TA00-12-00-0004 | 连杆衬套B | 2D drawing (PDF) | Real file |
| TA00-12-00-0006 | 脚踝俯仰轴 | 2D drawing (PDF) | Real file |
| TA00-12-00-0007 | 脚踝俯仰轴B | 2D drawing (PDF) | Real file |
| TA00-12-00-0011 | 脚踝俯仰轴垫片 | 2D drawing (PDF) | Real file |
| TA00-12-00-0012 | 脚踝俯仰轴锁紧螺钉 | 2D drawing (PDF) | Real file |
| TA00-12-00-0013 | 十字俯仰轴 | 2D drawing (PDF) | Real file |
| TA00-12-00-0014 | 十字侧摆轴 | 2D drawing (PDF) | Real file |
| TA00-12-00-0015 | 十字侧摆轴衬套 | 2D drawing (PDF) | Real file |
| TA00-12-00-0016 | 踝关节锁紧螺钉 | 2D drawing (PDF) | Real file |
| TA00-12-00-0017 | 十字俯仰轴关节衬套 | 2D drawing (PDF) | Real file |
| TA00-12-00-0018 | 膝关节轴承垫片 | 2D drawing (PDF) | Real file |
| TA00-12-01-0001 | A1髋关节周转电机连接件 | 2D drawing (PDF) | Real file |
| TA00-12-01-0002 | A1髋关节周转电机连接件B | 2D drawing (PDF) | Real file |
| TA00-12-01-0003 | A1周转电机轴承挡边 | 2D drawing (PDF) | Real file |
| TA00-12-01-0004 | 前摆线合配件 | 2D drawing (PDF) | Real file |
| TA00-12-02-0001 | A1 髋关节俯仰电机法兰 | 2D drawing (PDF) | Real file |
| TA00-12-02-0002 | A1俯仰电机supports架 | 2D drawing (PDF) | Real file |
| TA00-12-02-0003 | A1右大腿支架 | 2D drawing (PDF) | Real file |
| TA00-12-02-0004 | 膝关节电机关节轴 | 2D drawing (PDF) | Real file |
| TA00-12-02-0005 | 轴承锁紧螺母 | 2D drawing (PDF) | Real file |
| TA00-12-02-0006 | A1轴承钢套 | 2D drawing (PDF) | Real file |
| TA00-12-02-0007 | A1 摇臂 | 2D drawing (PDF) | Real file |
| TA00-12-02-0008 | 连杆销针 | 2D drawing (PDF) | Real file |
| TA00-12-02-0009 | 连杆锁紧螺钉B | 2D drawing (PDF) | Real file |
| TA00-12-02-0010 | 连杆 | 2D drawing (PDF) | Real file |
| TA00-12-02-0011 | 连杆衬套 | 2D drawing (PDF) | Real file |
| TA00-12-02-0012 | supports轴B | 2D drawing (PDF) | Real file |
| TA00-12-02-0015 | 髋关节俯仰限位块 | 2D drawing (PDF) | Real file |
| TA00-12-04-0001 | A1 右小腿支架 | 2D drawing (PDF) | Real file |
| TA00-12-04-0002 | A1 小腿曲柄 | 2D drawing (PDF) | Real file |
| TA00-12-04-0003 | 小腿拉杆A | 2D drawing (PDF) | Real file |
| TA00-12-04-0004 | 小腿拉杆C | 2D drawing (PDF) | Real file |
| TA00-12-04-0005 | A1 右小腿下限位 | 2D drawing (PDF) | Real file |
| TA00-12-04-0006 | A1右小腿上限位 | 2D drawing (PDF) | Real file |
| TA00-12-06-0001 | 足本体 | 2D drawing (PDF) | Real file |
| TA00-12-06-0002 | 足底后橡胶垫 | 2D drawing (PDF) | Real file |
| TA00-12-06-0003 | 足底前橡胶垫 | 2D drawing (PDF) | Real file |
| TA00-12-06-0004 | 足底端盖 | 2D drawing (PDF) | Real file |
| TA00-12-06 | 脚部组件 | 2D drawing (PDF) | Real file |
| 青龙V2.5 - 电气图纸与开源内容介绍 | |||
| 青龙全尺寸通用人形机器人硬件开源内容 | 2D drawing (PDF) | Real file | |
| 青龙电气原理图-开源版 | 2D drawing (PDF) | Real file | |
3D printing & fabrication
- Qinglong is machined metal, not a desktop-printing project; send the drawings to a CNC machining service.
- The upstream repo stores STEP models in git-lfs (≈1.3 GB for the full assembly, ≈6 GB in total); clone it from GitHub:
git lfs install && git clone https://github.com/loongOpen/OpenLoong-Hardware.git
CAD, code & papers
Get the large files — CAD, STL, STEP and code — straight from the original project:
- Hardware repository (drawings / STEP / schematics) ↗github.com
- Dynamics control openloong-dyn-control ↗github.com
- Official documentation ↗openloong.org.cn
License
Hardware Solderpad Hardware License v2.1 (Apache 2.0 based); software per each repository’s LICENSE.
Image credits
- Image 1: National and Local Co-built Humanoid Robotics Innovation Center / OpenLoong · Solderpad Hardware License v2.1 — source ↗
- Image 2: National and Local Co-built Humanoid Robotics Innovation Center / OpenLoong · Solderpad Hardware License v2.1 — source ↗
- Image 3: National and Local Co-built Humanoid Robotics Innovation Center / OpenLoong · Solderpad Hardware License v2.1 — source ↗
- Image 4: National and Local Co-built Humanoid Robotics Innovation Center / OpenLoong · Solderpad Hardware License v2.1 — source ↗
- Image 5: National and Local Co-built Humanoid Robotics Innovation Center / OpenLoong · Solderpad Hardware License v2.1 — source ↗
- Image 6: National and Local Co-built Humanoid Robotics Innovation Center / OpenLoong · Solderpad Hardware License v2.1 — source ↗
出典: 画像とデータ: OpenLoong コミュニティ (GitHub loongOpen および Qinglong ハードウェアのオープンソース仕様)。 Solderpad ハードウェア ライセンス v2.1 に基づくハードウェア。このサイトは元のプロジェクトとは無関係です。
部品を入手
部品の入手先
BOM の各行は、元のチームが使用したサプライヤーにリンクしています。部品の調達や構造の 3D プリントについてサポートが必要ですか?あなたが作っているロボットを教えてください。
02 — 関連ロボット
