zeroth-bot
Zeroth Bot - 3D-printed open-source humanoid robot platform for sim-to-real and RL research. Affordable entry point for humanoid robotics.
Informations de source
- Dépôt
- plurigrid/asi
- Dernière activité de la source
- 16 février 2026 à 01:58
- Langue détectée de SKILL.md
- anglais
- Étoiles
- 67
- Forks
- 12
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SKILL.md
Instructions source · Aperçu en lecture seule- 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
```python
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,
}
```
## GF(3) Triads
```
zeroth-bot (-1) ⊗ kos-firmware (+1) ⊗ mujoco-scenes (0) = 0 ✓
```
## Related Skills
- `kbot-humanoid` (-1): Larger flagship humanoid
- `ksim-rl` (-1): RL training library
- `kos-firmware` (+1): Firmware (kos-zbot variant)
- `urdf2mjcf` (-1): Model conversion
## Web Frontend
Z-Bot has a web-based control interface:
- Real-time telemetry visualization
- Manual joint control
- Policy deployment interface
```typescript
// 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,
});
```
## References
```bibtex
@misc{zerothbot2024,
title={Zeroth Bot: 3D-Printed Open-Source Humanoid},
author={K-Scale Labs},
year={2024},
url={https://github.com/kscalelabs/zeroth-bot}
}
```
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