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Duke Humanoid V2 — Hardware

Everything needed to build an identical Duke Humanoid V2: what to buy, what to machine and print, how to assemble, wire and bring it up. The control code is open too: Software.

Duke Humanoid V2 hardware overview with joints numbered

Orange: the 31 actuated joints — (1–7) shoulder pitch / roll / yaw, elbow, wrist roll / pitch / yaw; (8) waist; (9–14) hip pitch / roll / yaw, knee, ankle pitch / roll; (15–16) camera yaw / pitch. Green: (I) camera, (II) gripper, (III) onboard computer. Dimensions in mm.

Build path

  • 1 · Buy — every part, quantity and price. Bill of materials →
  • 2 · Make — CAD files, 30 machined parts, 48 printed parts. Fabrication →
  • 3 · Assemble — legs, arms, torso, camera columns, grippers, then the whole robot. Assembly →
  • 4 · Wire — 48 V power, six CAN buses, every cable to make. Electrical →
  • 5 · Bring up — motor IDs, zeroing, camera calibration. Bring-up →
  • 6 · Verify — eleven acceptance tests, hung then walking. Acceptance tests →

At a glance
Joints 31 RobStride quasi-direct-drive actuators: waist 1, each leg 6, each arm 7, each camera gimbal 2
Size and mass 1.26 m tall with camera masts; 35 kg (CAD)
Cameras 2 × Intel RealSense D436, each on its own yaw–pitch gimbal
Grippers 2 × rack-and-pinion parallel grippers, one Feetech bus servo each
Power 2 × 6S 10 000 mAh LiPo in series (44.4 V); 12 V for the computer and grippers
Computer MINISFORUM X1-470 mini PC onboard; a separate CUDA machine runs the planner
Structure Machined aluminium 6061 frame and joints; printed PLA, TPU and SLS nylon covers and brackets
Parts cost $12,996.53 for the parts list; consumables, tools and shipping not included
Also needed A gantry rated 50 kg or more with 1.4 m of clear height, and two people

Full numbers: Reference.