Open source Humanoïden
InMoov
De levensgrote open-source 3D-geprinte mensachtige, gestart door de Franse ontwerper Gaël Langevin in 2012 – aangedreven door hobby-RC-servo's en Arduino's, waarop MyRobotLab draait, en herbouwd door makers en scholen over de hele wereld.
- Type
- levensgrote mensachtige (bovenlichaam)
- Grootte
- 1:1 menselijke schaal
- Servo's
- HK15298B, HS805BB, MG996R …
- Controller
- 2 × Arduino Mega/Intel NUC
- Kosten
- geen officieel totaal
- Structuur
- ABS/PLA-afdrukken
- Open hardware en open code
- Volledige stuklijst met leverancierslinks
- Directe links naar de originele CAD, code en papieren
01 — Projectdetails
Overzicht, BOM en bronnen
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 ↗
Bron: Afbeeldingen en gegevens: InMoov (Gaël Langevin, inmoov.fr) en MyRobotLab. Onderdelen uitgebracht onder CC BY-NC; foto's © de oorspronkelijke auteur. Deze site is niet verbonden met het oorspronkelijke project.
Onderdelen krijgen
Waar zijn de onderdelen te verkrijgen
Elke regel in de stuklijst linkt naar de leverancier die het oorspronkelijke team gebruikte. Hulp nodig bij het vinden van onderdelen of het 3D-printen van de structuur? Vertel ons welke robot je bouwt.
02 — Gerelateerde robots
Meer open-source robots
Bouw met ons mee