Código abierto Humanoides
EnMoov
El humanoide de tamaño natural, de código abierto, impreso en 3D, iniciado por el diseñador francés Gaël Langevin en 2012, impulsado por servos RC y Arduinos, ejecutando MyRobotLab y reconstruido por fabricantes y escuelas de todo el mundo.
- Tipo
- Humanoide de tamaño natural (parte superior del cuerpo)
- Tamaño
- escala humana 1:1
- Servos
- HK15298B, HS805BB, MG996R…
- Controlador
- 2 × Arduino Mega / Intel NUC
- Costo
- sin total oficial
- Estructura
- Impresiones ABS / PLA
- Hardware abierto y código abierto
- Lista completa de materiales con enlaces de proveedores
- Enlaces directos al CAD original, código y documentos
01 — Detalles del proyecto
Resumen, BOM y recursos
Overview
InMoov began as a single robotic hand and grew into arms, head, torso, belly and legs. It is designed in Blender, and every part prints on an ordinary desktop printer.
Fingers are tendon-driven; the head has eye, jaw and neck mechanisms; the open-source MyRobotLab handles speech, vision and gestures. It is one of the most common open humanoids in classrooms and exhibitions.
Key specifications
| Servos | Fingers HK15298B, wrist MG996R, shoulder / arm / head / belly Hitec HS805BB, eyes DS929HV |
|---|---|
| Controllers | 2 × Arduino Mega + Nervo Board; newer builds run MyRobotLab on an Intel NUC |
| Sensors | Cameras, OAK-D-Lite, PIR, HC-SR04 ultrasonic, finger pressure sensors |
| Power | 6 V 12 Ah battery or 6 V 60 A power supply |
Bill of materials
The website BOM (2016) prices only some items — about €798 for those — excluding the NUC, cameras and most head/belly servos, so it is not a full-build price.
Download the BOM (.xlsx) · Official BOM ↗
| Part | Model / spec | Qty | Unit | Subtotal | Supplier |
|---|---|---|---|---|---|
| General | |||||
| Arduino Mega | 2 | €40.00 | €80.00 | ||
| Countersunk hex socket bolt | M3x20mm | 50 | |||
| Countersunk hex socket bolt | M4x20mm | 50 | |||
| Countersunk hex socket bolt | M8x100mm | 15 | |||
| Phillips countersunk wood screw | M3x12mm | 100 | |||
| Phillips countersunk wood screw | M4x20mm | 50 | |||
| Hand & forearm (L/R) | |||||
| HK15298B servo | HK15298B | 10 | €18.00 | €180.00 | |
| MG996R servo (wrist rotation) | MG996R | 2 | €11.00 | €22.00 | |
| Braided line / fishing line | 0.8mm, 200LB | 1 | €10.00 | €10.00 | |
| Assorted bolts | 1 | €10.00 | €10.00 | ||
| Natural ABS | 1500 g | 1 | €70.00 | €70.00 | |
| Extension spring | wire 0.51 mm, length 1 cm (13/64″×13/16″) | 10 | |||
| Arm & shoulder (L/R) | |||||
| Hitec HS805BB servo | HS805BB | 8 | €30.00 | €240.00 | |
| Assorted bolts | 1 | €10.00 | €10.00 | ||
| Black / yellow / natural ABS | 1500 g | 1 | €56.00 | €56.00 | |
| Head & torso | |||||
| Hitec HS805BB (head pitch / yaw) | HS805BB | 2 | |||
| HK15298B (jaw) | HK15298B | 1 | |||
| HK15298B (neck tilt, master/slave) | HK15298B | 2 | |||
| DS929hv Corona or similar (eyes) | DS929HV | 2 | |||
| Camera | Hercules HD (stripped) or Microsoft LifeCam 3000 | 1 | |||
| Depth camera | OAK-D-Lite (fixed focus) | 1 | |||
| Natural ABS | about 4 kg | 1 | |||
| Braided line / fishing line | 0.8mm, 200LB | 1 | €5.00 | €5.00 | |
| Assorted bolts | 1 | €10.00 | €10.00 | ||
| Natural ABS | 1500 g | 1 | €70.00 | €70.00 | |
| Battery 6 V 12 Ah + charger 6 V 1.5 A | 1 | €35.00 | €35.00 | ||
| [Alt] power supply 5 V 50 A (adjustable to 6 V) | 1 | fr.aliexpress.com ↗ | |||
| Mini PC speakers | 8Ω | 2 | |||
| Mini amplifier | 10W, 6V | 1 | |||
| PIR motion sensor | retriggered | 1 | |||
| Cables & wires | 1 | ||||
| Belly | |||||
| Hitec HS805BB (upper belly) | HS805BB | 2 | |||
| Hitec HS805BB or HK15338 (mid belly) | HS805BB / HK15338 | 2 | |||
| Latest setup (NUC) | |||||
| Mini PC (NUC) | Intel i7-8550 / 256GB SSD / 32GB RAM | 1 | |||
| USB 3.0 hub | 8-port | 1 | |||
| Nervo Board | 2 | ||||
| Arduino Nano | 1 | ||||
| NeoPixel | 3 | ||||
| Ultrasonic sensor | HC-SR04 | 2 | |||
| Finger pressure sensor | 10 | ||||
| Hercules camera | 2 | ||||
| USB sound card | 1 | ||||
| Wireless headset | Logitech H600 | 1 | |||
| Speakers | 10W | 2 | |||
| Power supply | 6V 60A | 1 | |||
3D printing & fabrication
- The official build uses ABS (≈1.5 kg for hand + forearm, ≈4 kg for head + torso); bond ABS with acetone and PLA with two-part epoxy.
- Most parts at 30% infill, 3 shells, no supports; print wrist gears at the highest quality.
- Download every STL by body part from the official parts library; the wiring diagram (Default Hardware Map) and parts list are on the website too.
CAD, code & papers
Get the large files — CAD, STL, STEP and code — straight from the original project:
- Official website ↗inmoov.fr
- STL parts library ↗inmoov.fr
- Hardware map & BOM ↗inmoov.fr
- Build tutorials ↗inmoov.fr
- MyRobotLab ↗github.com
- InMoov2 service ↗github.com
- Nervo Board ↗inmoov.fr
- Gallery ↗inmoov.fr
License
Parts CC BY-NC; MyRobotLab / InMoov2 code Apache-2.0.
Image credits
- Image 1: Gaël Langevin / inmoov.fr · © the author — source ↗
- Image 2: Gaël Langevin / inmoov.fr · © the author — source ↗
- Image 3: Gaël Langevin / inmoov.fr · © the author — source ↗
- Image 4: Enric · CC BY-SA 4.0 — source ↗
- Image 5: Matti Blume · CC BY-SA 4.0 — source ↗
- Image 6: DanielPenfield · CC BY-SA 4.0 — source ↗
- Image 7: Gaël Langevin / inmoov.fr · © the author — source ↗
- Image 8: Gaël Langevin / inmoov.fr · © the author — source ↗
Fuente: Imágenes y datos: InMoov (Gaël Langevin, inmoov.fr) y MyRobotLab. Piezas publicadas bajo CC BY-NC; fotos © el autor original. Este sitio no está afiliado al proyecto original.
Conseguir piezas
Dónde conseguir las piezas
Cada línea de la lista de materiales se vincula con el proveedor que utilizó el equipo original. ¿Necesita ayuda para obtener piezas o imprimir en 3D la estructura? Dinos qué robot estás construyendo.
02 — Robots relacionados
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