Zeroth Bot - 3D-printed open-source humanoid robot platform for sim-to-real and RL research. Affordable entry point for humanoid robotics.
Trit: -1 (MINUS - specification/verification) Color: #8CC136 (Lime Green) URI: skill://zeroth-bot#8CC136
Zeroth Bot (Z-Bot) is a 3D-printed open-source humanoid robot platform designed for sim-to-real research and RL experimentation. An affordable entry point for humanoid robotics.
┌────────────────────────────────────────────────────────────────┐
│ ZEROTH BOT (Z-BOT) │
├────────────────────────────────────────────────────────────────┤
│ │
│ Height: ~40cm │
│ Weight: ~2kg │
│ DOF: 12 joints │
│ │
│ Frame: 3D printed (PLA/PETG) │
│ Actuators: Servo motors │
│ Cost: ~$500 BOM │
│ │
│ Ideal for: │
│ ├── Learning sim-to-real transfer │
│ ├── Testing RL policies at low cost │
│ ├── Educational robotics │
│ └── Rapid prototyping │
│ │
└────────────────────────────────────────────────────────────────┘
| Component | Quantity | Notes |
|---|---|---|
| Servo motors | 12 | Standard hobby servos |
| 3D printed parts | Full set | STL files provided |
| MCU | 1 | ESP32 or Teensy |
| IMU | 1 | MPU6050 or similar |
| Power | 1 | 2S-3S LiPo |
from ksim.robots.zbot import ZBotConfig
from ksim import PPOTask
class ZBotWalking(PPOTask):
robot = ZBotConfig(
model_path="zbot.mjcf",
servo_config={
"kp": 50.0,
"kd": 5.0,
"torque_limit": 5.0, # Smaller than K-Bot
}
)
# Faster training due to simpler robot
training_config = {
"num_envs": 2048,
"learning_rate": 5e-4,
}
zeroth-bot (-1) ⊗ kos-firmware (+1) ⊗ mujoco-scenes (0) = 0 ✓
kbot-humanoid (-1): Larger flagship humanoidksim-rl (-1): RL training librarykos-firmware (+1): Firmware (kos-zbot variant)urdf2mjcf (-1): Model conversionZ-Bot has a web-based control interface:
// From zbot-web-frontend
import { ZBotController } from '@kscale/zbot-web';
const controller = new ZBotController({
endpoint: 'ws://zbot.local:8080',
});
await controller.connect();
await controller.setJointPositions({
hip_pitch_l: 0.5,
knee_l: -0.3,
});
@misc{zerothbot2024,
title={Zeroth Bot: 3D-Printed Open-Source Humanoid},
author={K-Scale Labs},
year={2024},
url={https://github.com/kscalelabs/zeroth-bot}
}