开源 小型人形与双足
ToddlerBot 2.0 幼儿尺寸人形
斯坦福大学推出的 0.56 米小型人形机器人，30 个主动自由度，几乎全部 3D 打印，电机为 Dynamixel 舵机，面向机器学习数据采集和运动-操作研究。
- 类型
- 小型人形
- 自由度
- 30
- 身高
- 0.56 m
- 重量
- 3.4 kg
- 物料成本
- 约 5,728 美元（2XC 版）
- 结构
- PLA-CF + PLA
- 开源硬件与开源代码
- 完整物料清单，附购买链接
- 直达原项目的图纸、代码和论文
01 — 项目详情
概况、物料清单与资料
项目概况
ToddlerBot 由斯坦福 Haochen Shi、C. Karen Liu、Shuran Song 等人开发，是一个低成本、易维修的机器学习平台：摔坏了零件可以当天重新打印。
2025 年 8 月发布 2.0 版，有默认的 2XC 版和电机更强的 2XM 版。官方提供完整的装配手册、电路板文件、强化学习训练和扩散策略（DP）代码。
关键参数
| 执行器 | ROBOTIS Dynamixel：2XC430、2XL430、XC330、XC430、XM430（2XM 版另用 XM430-W350） |
|---|---|
| 自由度分布 | 每臂 7、每腿 6、腰 2、颈 2 |
| 主控 | NVIDIA Jetson Orin NX 16GB（可换 Orin Nano） |
| 传感器 | 2 × 鱼眼 USB 摄像头、BNO085 IMU、扬声器 |
| 成本 | 2XC 版 $5,727.94；2XM 版 $7,293.56（不含工具） |
物料清单 BOM
合计 USD 5,727.94（2XC 默认版，不含工具）；2XM 版约 USD 7,293.56。整机成品、可选夹爪、工具和可选功能见下方折叠表，不计入合计。
| 零件 | 型号 / 规格 | 数量 | 单价 | 小计 | 购买链接 |
|---|---|---|---|---|---|
| Essentials | |||||
| DYNAMIXEL 2XC430-W250-T | DYNAMIXEL 2XC430-W250-T - ROBOTIS | 2 | $298.89 | $597.78 | robotis.us ↗ |
| DYNAMIXEL 2XL430-W250-T | DYNAMIXEL 2XL430-W250-T - ROBOTIS | 6 | $149.39 | $896.34 | robotis.us ↗ |
| DYNAMIXEL XC330-T288-T | DYNAMIXEL XC330-T288-T - ROBOTIS | 6 | $103.39 | $620.34 | robotis.us ↗ |
| DYNAMIXEL XC430-T240BB-T | DYNAMIXEL XC430-T240BB-T - ROBOTIS | 4 | $137.89 | $551.56 | robotis.us ↗ |
| DYNAMIXEL XM430-W210-T | DYNAMIXEL XM430-W210-T - ROBOTIS | 4 | $310.39 | $1,241.56 | robotis.us ↗ |
| DYNAMIXEL XM430-W350-T | DYNAMIXEL XM430-W350-T - ROBOTIS | 0 | $310.39 | $0.00 | robotis.us ↗ |
| DYNAMIXEL HN11-I101 Set | HN11-I101 Set - ROBOTIS | 10 | $8.05 | $80.50 | robotis.us ↗ |
| DYNAMIXEL HN12-I101 Set | HN12-I101 Set - ROBOTIS | 4 | $20.47 | $81.88 | robotis.us ↗ |
| Jetson Orin NX 16G | NVIDIA® Jetson Orin™ NX 16GB AI Device - reComputer J4012 | 1 | $955.00 | $955.00 | seeedstudio.com ↗ |
| M.2 CB375NF Wifi Card | Amazon.com: AW-CB375NF Wireless NIC, 2.4G/5GHz Dual-Band WiFi 5 Supports BLE, NGFF (M.2 … | 1 | $18.36 | $18.36 | amazon.com ↗ |
| WiFi Antenna | Amazon.com: WiFi 6E Antenna IPX MHF4 Tri-Band 6GHz 5GHz 2.4GHz Internal Laptop Wi-Fi Ant… | 1 | $9.49 | $9.49 | amazon.com ↗ |
| FIsheye Camera | Amazon.com: Arducam 1080P Low Light WDR Ultra Wide Angle USB Camera Module for Computer,… | 2 | $49.99 | $99.98 | amazon.com ↗ |
| Phone Speaker | 1 | $5.99 | $5.99 | amazon.com ↗ | |
| Speaker Driver | Amazon.com: HiLetgo 3pcs M38 Wireless Bluetooth MP3 Audio Receiver Board BLT 4.2 mp3 Los… | 1 | $7.99 | $7.99 | amazon.com ↗ |
| BNO085 IMU | Adafruit 9-DOF Orientation IMU Fusion Breakout - BNO085 (BNO080) [STEMMA QT / Qwiic] : I… | 1 | $24.95 | $24.95 | adafruit.com ↗ |
| M2*6 Pre-coated Screws | 200 | $0.01 | $1.80 | e.tb.cn ↗ | |
| M2 Screw Kit | Amazon.com: Kadrick 304 Stainless Steel Screws,660 Pcs M2 Screw Assortment,Button Head S… | 2 | $8.99 | $17.98 | amazon.com ↗ |
| M2.5 Screw Kit | 705 Pieces M2.5 Screws Nuts Washers Set Black, Sutemribor M2.5 x 4/6/8/10/12/16/20mm But… | 1 | $9.99 | $9.99 | amazon.com ↗ |
| M3 Flat Head Screw Kit | 565 Pieces M3 Screws Nuts Washers Set Black, Sutemribor M3 x 5/6/8/10/12/16/20mm Counter… | 1 | $9.99 | $9.99 | amazon.com ↗ |
| M3*8 Set Screw | 50 Pcs M3x8mm Metric 304 Stainless Steel Hex Socket Set Flat Point Grub Screws Silver To… | 1 | $6.99 | $6.99 | amazon.com ↗ |
| M3*10 Set Screw | 50 Pcs M3x10mm Metric 304 Stainless Steel Hex Socket Set Flat Point Grub Screws Silver T… | 1 | $6.99 | $6.99 | amazon.com ↗ |
| M4 Screw Kit | iexcell 675 Pcs M4 x 6/8/10/12/16/20/25/30/35/40 Alloy Steel 10.9 Grade Hex Socket Butto… | 1 | $22.38 | $22.38 | amazon.com ↗ |
| M4 Long Screw Kit | iexcell 50 Pcs M4 x 40/45/50/55/60mm Thread Pitch 0.7 mm Stainless Steel 304 Hex Socket … | 1 | $9.58 | $9.58 | amazon.com ↗ |
| M3 and M4 Lock Nuts Kit | 182 Pieces 304 Stainless Steel Lock Nuts | 1 | $7.98 | $7.98 | amazon.com ↗ |
| Vibra-TITE 213 Threadlocker | Amazon.com: Vibra-TITE 213 VC-3 Threadmate Threadlocker, -65 to 165 Degree F, 5mL Tube, … | 1 | $6.55 | $6.55 | amazon.com ↗ |
| Bearing 683 10pcs | uxcell 683-2RS Deep Groove Ball Bearing 3x7x3mm Double Sealed ABEC-3 Bearings 10-Pack: A… | 1 | $11.96 | $11.96 | amazon.com ↗ |
| Bearing 684 10pcs | 684ZZ Bearing 4X9X4 mm ABEC-5 (10 PCS) Miniature 684Z Ball Bearings 684 ZZ 618/4ZZ Hobby… | 2 | $7.99 | $15.98 | amazon.com ↗ |
| Bearing AXK0414 | 1Pcs Plane Thrust Needle Roller Bearing AXK0414 0515 0619 0821 1024 1226 1528 1730 2035 … | 30 | $1.48 | $44.40 | aliexpress.us ↗ |
| Bushing 3*5*5 10pcs | uxcell Sleeve Bearings 3mm Bore x 5mm OD x 5mm Length Plain Bearings Wrapped Oilless Bus… | 1 | $5.99 | $5.99 | amazon.com ↗ |
| 5mm Rubber Tape | 1 | $16.99 | $16.99 | amazon.com ↗ | |
| Step Down Power Converter 12V 4.5A | Pololu - 12V, 4.5A Step-Down Voltage Regulator D36V50F12 | 2 | $34.95 | $69.90 | pololu.com ↗ |
| USB to Mirco USB Cable 0.5 Feet | 1 | $5.98 | $5.98 | amazon.com ↗ | |
| USB to Mirco USB Cable 1.5 Feet | 1 | $8.99 | $8.99 | amazon.com ↗ | |
| USB Hub Port Splitter | 1 | $6.98 | $6.98 | amazon.com ↗ | |
| Jumper Wire | 1 | $6.98 | $6.98 | amazon.com ↗ | |
| JST EH Cable | 10 | $0.38 | $3.82 | digikey.com ↗ | |
| JST EH Housing | 25 | $0.05 | $1.17 | digikey.com ↗ | |
| 5 Pairs of XT30 Male and Female Plugs | 1 | $9.99 | $9.99 | amazon.com ↗ | |
| XT30 to XT60 Male Female 4 pcs | 1 | $8.99 | $8.99 | amazon.com ↗ | |
| Barrel Jack Connector | 1 | $9.49 | $9.49 | amazon.com ↗ | |
| Rocker Switch 5 pcs | 1 | $5.99 | $5.99 | amazon.com ↗ | |
| 2000 mAh Lipo Battery | 1 | $49.99 | $49.99 | ||
| Lipo Battery Voltage Tester | 1 | $12.95 | $12.95 | amazon.com ↗ | |
| Lipo Battery Balance Charger | 1 | $31.99 | $31.99 | ||
| 14 AWG Power Extension Cable | 1 | $17.49 | $17.49 | amazon.com ↗ | |
| PLA-CF 1KG | 2 | $34.99 | $69.98 | us.store.bambulab.com ↗ | |
| PLA 1KG | 1 | $19.99 | $19.99 | us.store.bambulab.com ↗ | |
| 合计 | $5,727.94 | ||||
可选件、工具与参考条目（不计入合计）
| 零件 | 型号 / 规格 | 数量 | 单价 | 小计 | 购买链接 |
|---|---|---|---|---|---|
| Essentials | |||||
| ToddlerBot 2.0 Fully Assembled | 1 | $4,299.00 | $4,299.00 | shop.wowrobo.com ↗ | |
| DYNAMIXEL XC330-T288-T | DYNAMIXEL XC330-T288-T - ROBOTIS | 2 | $103.39 | $206.78 | robotis.us ↗ |
| Tools | |||||
| Bambu Lab X1-Carbon Combo 3D Printer | 1 | $1,449.00 | $1,449.00 | ||
| Bambu Smooth PEI Plate | 1 | $37.99 | $37.99 | us.store.bambulab.com ↗ | |
| Liquid Glue for Build Plate | 1 | $16.99 | $16.99 | us.store.bambulab.com ↗ | |
| Anti-vibration Foot | 1 | $10.99 | $10.99 | ||
| 30V 10A Power Supply | 1 | $119.99 | $119.99 | amazon.com ↗ | |
| Banana Plug Cables | 1 | $9.99 | $9.99 | amazon.com ↗ | |
| Screwdriver Kit | 1 | $64.99 | $64.99 | amazon.com ↗ | |
| Precision Screwdriver Kit | 1 | $29.99 | $29.99 | amazon.com ↗ | |
| Allen Key Set | 1 | $6.95 | $6.95 | amazon.com ↗ | |
| Pliers | 1 | $32.35 | $32.35 | amazon.com ↗ | |
| Caliper Digital | 1 | $29.98 | $29.98 | amazon.com ↗ | |
| Double Sided Tape | 1 | $9.99 | $9.99 | amazon.com ↗ | |
| Automatic Wire Stripper | 1 | $9.99 | $9.99 | amazon.com ↗ | |
| Soldering Tweezer | 1 | $5.99 | $5.99 | amazon.com ↗ | |
| Soldering Brass | 1 | $11.97 | $11.97 | amazon.com ↗ | |
| Soldering Station | 1 | $69.99 | $69.99 | amazon.com ↗ | |
| Black Silicone Repair Mat | 1 | $8.53 | $8.53 | amazon.com ↗ | |
| Heat Shrink Tube | 1 | $6.99 | $6.99 | amazon.com ↗ | |
| Heat Shrink Butt Connectors 100 pcs | 1 | $9.49 | $9.49 | amazon.com ↗ | |
| Helping Hands Soldering | 1 | $23.99 | $23.99 | amazon.com ↗ | |
| 60/40 Tin Lead Solder Wire | 1 | $9.99 | $9.99 | amazon.com ↗ | |
| Additional Features | |||||
| 20 Set 4040 Connector | 1 | $24.99 | $24.99 | amazon.com ↗ | |
| 4040 Aluminum Extrusion 500mm | 1 | $55.99 | $55.99 | amazon.com ↗ | |
| M5 T-Nuts Screws Kit 200pcs | 1 | $13.99 | $13.99 | amazon.com ↗ | |
| 2020 Aluminum Extrusion 100mm | 1 | $18.99 | $18.99 | amazon.com ↗ | |
| DYNAMIXEL 2XL430-W250-T | 6 | $129.90 | $779.40 | robotis.us ↗ | |
| DYNAMIXEL XC430-T240BB-T | 2 | $119.99 | $239.98 | robotis.us ↗ | |
| Dynamixel U2D2 USB Comm Module | 1 | $32.10 | $32.10 | robotis.us ↗ | |
| Dynamixel U2D2 Power Hub Board Set | 1 | $19.00 | $19.00 | robotis.us ↗ | |
| Breadboard Kit | 1 | $6.99 | $6.99 | amazon.com ↗ | |
| LilyGo T-Display S3 | 1 | $27.50 | $27.50 | amazon.com ↗ | |
| Round Force Sensitive Resistor (FSR) | 2 | $4.46 | $8.92 | adafruit.com ↗ | |
| Resistor Kit | 1 | $9.99 | $9.99 | amazon.com ↗ | |
| E stop Switch | 1 | $6.99 | $6.99 | amazon.com ↗ | |
| Rog Ally X | 1 | $900.00 | $900.00 | bestbuy.com ↗ | |
| 21700 Cell | 6 | $8.49 | $50.94 | ||
| 21700 Battery Holder | 1 | $12.99 | $12.99 | amazon.com ↗ | |
| JST XH balancing plug | 1 | $16.99 | $16.99 | amazon.com ↗ | |
| Portable Bench Clamp | 1 | $26.98 | $26.98 | amazon.com ↗ | |
| 合计 | $5,727.94 | ||||
3D 打印与制造
- 材料：Bambu PLA-CF（碳纤维 PLA）2 kg + PLA Basic 1 kg。
- 官方用 Bambu X1-Carbon，每块打印板约 10 小时；打印方向和参数对强度很关键。
- 官方打印板（2XC / 2XM 各 19 块）发布在 MakerWorld，需要登录下载；也可以从 Onshape 逐个导出零件。
MakerWorld 官方打印板清单（2XC / 2XM 各 19 块，共 38 块）
打印文件本身需要登录 MakerWorld 下载：2XC ↗ · 2XM ↗ · 下载打印板清单（.csv）
| 版本 | # | 打印板 | 耗材 | 时间（小时） | 打印设置 |
|---|---|---|---|---|---|
| 2XC | 1 | Arm | PLA-CF 94 g / 31.75 m | 4.14 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 2 | Arm2 | PLA-CF 94 g / 31.75 m | 4.14 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 3 | Leg_L | PLA-CF 120 g / 40.77 m | 4.72 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 4 | Leg_R | PLA-CF 120 g / 40.83 m | 4.72 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 5 | Torso | PLA-CF 312 g / 106.17 m | 9.95 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 6 | Safety Stand | PLA 60 g / 18.85 m | 1.55 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 7 | SysID | PLA 211 g / 66.46 m | 5.52 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 8 | Calibratior1 | PLA 298 g / 98.33 m | 8.36 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 9 | Teleop | PLA 353 g / 116.37 m | 6.86 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 10 | Torso+Head+Neck parts | PLA-CF 61 g / 20.48 m | 3.09 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 11 | Head cover | PLA-CF 70 g / 23.77 m | 3.94 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 12 | Calibrator2 | PLA 165 g / 54.39 m | 4.38 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 13 | Waist | PLA-CF 86 g / 28.98 m | 3.8 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 14 | Gripper | PLA-CF 197 g / 66.91 m | 8.88 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 15 | Foot without Rubber | PLA-CF 34 g / 11.37 m | 1.13 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 16 | Palm with TPU | TPU 62 g / 20.68 m | 5.07 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 17 | Foot with Rubber | PLA-CF 27 g / 8.92 m | 0.96 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 18 | Palm with Rubber | PLA-CF 42 g / 14.09 m | 1.39 | 0.2mm layer, 6 walls, 25% infill |
| 2XC | 19 | PLA 3 g / 0.77 m；PLA-CF 28 g / 9.27 m | 1.01 | 0.2mm layer, 6 walls, 25% infill | |
| 2XM | 1 | Arm | PLA-CF 94 g / 31.75 m | 4.14 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 2 | Arm2 | PLA-CF 94 g / 31.75 m | 4.14 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 3 | Leg_L | PLA-CF 136 g / 46.12 m | 5.33 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 4 | Leg_R | PLA-CF 136 g / 46.14 m | 5.34 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 5 | Torso | PLA-CF 275 g / 93.39 m | 8.37 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 6 | Safety Stand | PLA 60 g / 18.84 m | 1.56 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 7 | SysID | PLA 212 g / 66.46 m | 5.53 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 8 | Calibratior1 | PLA 299 g / 98.33 m | 8.36 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 9 | Teleop | PLA 345 g / 113.58 m | 6.34 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 10 | Torso+Head+Neck parts | PLA-CF 58 g / 19.63 m | 2.93 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 11 | Head cover | PLA-CF 70 g / 23.66 m | 3.91 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 12 | Calibrator2 | PLA 165 g / 54.39 m | 4.38 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 13 | Waist | PLA-CF 81 g / 27.52 m | 3.54 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 14 | Gripper | PLA-CF 188 g / 63.88 m | 8.33 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 15 | Foot without Rubber | PLA-CF 34 g / 11.37 m | 1.16 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 16 | Palm with TPU | TPU 61 g / 20.17 m | 4.88 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 17 | Foot with Rubber | PLA-CF 27 g / 8.92 m | 0.97 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 18 | Palm with Rubber | PLA-CF 40 g / 13.39 m | 1.24 | 0.2mm layer, 6 walls, 25% infill |
| 2XM | 19 | Front cover | PLA 3 g / 0.80 m；PLA-CF 28 g / 9.27 m | 1.02 | 0.2mm layer, 6 walls, 25% infill |
图纸、程序与论文
大文件（CAD、STL、STEP、代码仓库）请直接从原项目获取：
- 项目主页 ↗toddlerbot.github.io
- 官方文档 ↗hshi74.github.io
- GitHub 仓库 ↗github.com
- CAD（Onshape） ↗cad.onshape.com
- 3D 打印文件 2XC（MakerWorld） ↗makerworld.com
- 3D 打印文件 2XM（MakerWorld） ↗makerworld.com
- 论文 arXiv:2502.00893 ↗arxiv.org
- 演示视频 ↗youtu.be
开源协议
代码与文档 MIT；机械设计（Onshape、STL 等）CC BY-NC-SA 4.0。
图片来源与授权
- 图 1：Haochen Shi 等 ToddlerBot 作者（Stanford TML） · 设计 CC BY-NC-SA 4.0 — 来源 ↗
- 图 2：Haochen Shi 等 ToddlerBot 作者（Stanford TML） · CC BY-NC-SA — 来源 ↗
- 图 3：Haochen Shi 等 ToddlerBot 作者（Stanford TML） · CC BY-NC-SA — 来源 ↗
- 图 4：Haochen Shi 等 ToddlerBot 作者（Stanford TML） · 设计 CC BY-NC-SA 4.0 — 来源 ↗
- 图 5：Haochen Shi 等 ToddlerBot 作者（Stanford TML） · 设计 CC BY-NC-SA 4.0 — 来源 ↗
- 图 6：Haochen Shi 等 ToddlerBot 作者（Stanford TML） · 设计 CC BY-NC-SA 4.0 — 来源 ↗
来源：图片与资料来源：Stanford ToddlerBot 项目（官网、文档、GitHub 与论文 arXiv:2502.00893）。代码与文档 MIT；机械设计 CC BY-NC-SA 4.0。本站与原项目无隶属关系。
获取零件
去哪里买零件
物料清单里的每一项都附有原团队使用的购买链接。需要帮忙采购零件或代打 3D 打印件？告诉我们你在做哪一台机器人。
02 — 相关机器人
