A complete leg design with 6 DOF per leg, RSU ankle architecture, passive toe joints. Built with off-the-shelf components and compatible with MJF 3D printing.

What's included: - Full mechanical CAD (STEP files) - Motors & actuators list - XML files for simulation (MuJoCo)

Most of the structure is MJF-printable plastic. The only part that needs CNC is the knee plate, and we spent weeks simplifying that from a 2-part assembly down to a single plate. If you don't have access to industrial MJF, casting or regular 3D printing works too.

Repo for all: https://github.com/asimovinc/asimov-v0