| name | zeroth-bot |
| description | Zeroth Bot - 3D-printed open-source humanoid robot platform for sim-to-real and RL research. Affordable entry point for humanoid robotics. |
| version | 1.0.0 |
| category | robotics-platform |
| author | K-Scale Labs |
| source | kscalelabs/zeroth-bot |
| license | MIT |
| trit | -1 |
| trit_label | MINUS |
| color | #8CC136 |
| verified | false |
| featured | false |
Zeroth Bot Skill
Trit: -1 (MINUS - specification/verification)
Color: #8CC136 (Lime Green)
URI: skill://zeroth-bot#8CC136
Overview
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.
Specifications
┌────────────────────────────────────────────────────────────────┐
│ 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 │
│ │
└────────────────────────────────────────────────────────────────┘
Hardware BOM
| 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 |
Training Pipeline
from ksim.robots.zbot import ZBotConfig
from ksim import PPOTask
class ZBotWalking(PPOTask):
robot = ZBotConfig(
model_path="zbot.mjcf",
servo_config={
: ,
: ,
: ,
}
)
training_config = {
: ,
: ,
}
