kayra

An easy to modify, 3D printable open-source humanoid robot evolved by the community:

• goal: can walk nearly as fast as a human toddler
• goal: it can use the arms to lift at least a toy
• works immediately after building it (walking, grabbing movement patterns provided)
• is easy to charge / batteries easy to change
• can be operated by a variety of controllers (Arduino, ESP-32, etc)
• option: can also be controlled via a remote control (PS2, 8Bitdo)
• is connected to a host for Machine Learning / Computer Vision
• design should be adaptable to different servos
• modular so that enthusiasts can change the design of a subsystem
• is easy to 3D print and to assemble, ideally no soldering necessary
• easy to write software for (Python on host, Micropython on controllers)
• costs for a minimal system should be low
• simulation provided to work on the robot without any hardware at all

Folders:

• FCStd: design files for freeCAD (Kayra is designed using the open source software freeCAD)
• gcode: printable files for Prusa i3 MK3, PETG
• Pics: some of documentation pictures
• STL: STL files for your 3D printer slicer
• software: all software for the ESP32 Cam, Pimoroni 2040 servo-controller and host side
• MuJoCo: simulation of Kayra using the STLs in DeepMind's robot simulation software

For full documentation & wiki please refer to kayra.org Join our discord sever for discussion and support. Follow us on twitter or instagram for frequent updates.