MINIHUMANOID

A SMALL ROBOT, LEARNING

Learning
to move.

A 13-inch humanoid built from printed parts, hobby servos, and a little reinforcement learning.

EXPLORE THE 3D MODEL
FIG. 01 / STLv2LOADING MODEL
01 / ESP32 BRAIN / TORSO
02 / 2 PCA9685 / TORSO BACK
03 / 19 MG90 JOINTS
EXPLORE MODEL ↗
19 DEGREES OF FREEDOMDRAG TO ORBIT · SCROLL TO ZOOM

01 / THE BUILD

Small by design.
Open by nature.

MiniHumanoid is an experimental platform for learning how a robot stands, steps, and finds its balance. Its body is designed in CAD, brought to life with hobby servos, and tested in simulation before the real world.

HEIGHT13 in
ACTUATORS19
CONTROLESP32

MODEL / 20 STL PARTS

Every part,
in its place.

Explore the assembled STLv2 robot in an interactive 3D view. Orbit the model, zoom in, and inspect the neutral pose.

OPEN MODEL VIEW

02 / IN THE LOOP

From simulation
to motion.

Reinforcement learning explores movement in MuJoCo. Promising motion is distilled into a compact sequence for the robot.

SIMULATED PREVIEW ONLY · NOT A LIVE ROBOT CONNECTION