Open source Humanoids
OpenLoong (Qinglong) full-size humanoid
A full-size general-purpose humanoid from China’s National & Local Co-built Humanoid Robotics Innovation Center and the OpenAtom Foundation: 43 active DoF with EtherCAT joints, with open engineering drawings and schematics.
- Type
- Full-size humanoid
- DoF
- 43 (active)
- Weight
- 80 kg
- Payload
- ≥ 20 kg
- Joints
- EtherCAT, 11.5–396 N·m peak
- Structure
- machined metal
- Open hardware and open code
- Full bill of materials with supplier links
- Direct links to the original CAD, code and papers
01 — Project details
Overview, BOM and resources
Overview
Qinglong is one of the few full-size humanoids with open hardware drawings: waist, chest, head sensing and legs all ship as 2D drawings (PDF) and 3D models (STEP), and V2.5 adds the full assembly and electrical schematics.
Its dynamics control framework, openloong-dyn-control, uses MPC + WBC and runs in MuJoCo. Being a machined-metal robot, it is best used as a reference for engineering drawings and system architecture rather than a desktop-printing build.
Key specifications
| Peak joint torque | Hip / knee 396 N·m, waist 315 N·m, ankle 208 N·m, shoulder 80 N·m, neck 26 N·m |
|---|---|
| Arms | 7 DoF per arm, 600 mm reach, ±0.2 mm repeatability |
| Dexterous hand | 19 DoF (6 active), ≤ 600 g, ≥ 5 kg payload |
| Bus & drives | EtherCAT; drives 11–95 VDC, current loop ≥ 10 kHz |
Bill of materials
No official BOM is published. Below is a part/drawing-number list compiled from the official drawing file names (178 items); quantities follow the drawings.
| Drawing no. | Name (as in drawings) | Type | File status |
|---|---|---|---|
| TA00-03-00-腰部组件-三维图纸 | |||
| TA00-03-0001 | 腰部支架1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0002 | 前部补盲相机支架1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0003 | 前部相机转接块1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0004 | 腰部周转轴承挡圈1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0005 | 腰部周转电机轴1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0006 | 侧摆电机支架1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0007 | 前摆电机支架1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0008 | 腰部侧摆supports转轴1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0009 | 腰部侧摆轴承挡圈1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0010 | 腰部侧摆轴承锁紧螺钉1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0011 | 腰部俯仰轴承挡圈1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0012 | 腰部俯仰supports转轴1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0013 | 腰部周转固定支架1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-0014 | 腰部周转固定支架镜像1 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-01-0002 | 腰部转接板105311 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-00-胸腔系统-三维图纸 | |||
| TA00-04-01-0001 | 手臂吊装 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-0003 | 后supports板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-0004 | 后supports板（镜像） | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-0005 | 前supports板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-0006 | 前supports板（镜像） | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-0007 | 上supports板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-01-01-0002 | 腰部转接板1105310604 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-02-0001 | 上固定板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-02-0002 | 侧固定板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-02-0003 | 后安装侧板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-02-0004 | 后安装侧板（镜像） | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-02-0005 | 防尘板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0001 | 头部固定座 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0002 | 安装转接件 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0003 | 电台固定板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0004 | 主控固定板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0005 | WIFI模块散热板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0006 | 交换机固定板 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0007 | 雷达固定件 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-03-0008 | 转接盒固定件 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-04-0001 | 前保护支架 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-04-0002 | 后保护支架 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-00-头部感知系统-三维图纸 | |||
| TA00-07-01-0002 | 感知头视窗V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0004 | 前装配板V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0005 | 后装配板V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0006 | 框架底板V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0007 | 侧面supportsV2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0008 | 侧面supports2V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0009 | 周转输出结构件V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0010 | 侧面支架V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0011 | 框架顶板V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0012 | 双目相机支架V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0013 | 俯仰悬臂结构件V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0014 | 俯仰输出结构件V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0015 | 俯仰悬臂结构连接件V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0016 | 摄像头支架（左）V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07-01-0017 | 摄像头支架（右）V2.5 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-腿足系统-三维图纸 | |||
| TA00-12-00-0001 | 膝关节销轴 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0002 | 膝关节销轴锁紧螺钉 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0003 | 连杆销针C | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0004 | 连杆衬套B | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0006 | 脚踝俯仰轴 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0007 | 脚踝俯仰轴 B | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0011 | 脚踝俯仰轴垫片 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0013 | 十字俯仰轴 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0014 | 十字侧摆轴 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0015 | 十字侧摆轴衬套 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0016 | 踝关节锁紧螺钉 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0017 | 十字俯仰轴关节衬套 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00-0018 | 膝关节轴承垫片 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0001 | 髋关节俯仰电机法兰 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0002 | 俯仰电机supports架 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0003 | 右大腿支架 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0004 | 膝关节电机关节轴 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0005 | 轴承锁紧螺母 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0006 | 轴承钢套 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0007 | 摇臂 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0008 | 连杆销针 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0009 | 连杆锁紧螺钉B | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0010 | 连杆 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0011 | 连杆衬套 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0012 | supports轴B | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-02-0015 | 髋关节俯仰限位块 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-04-0001 | 右小腿支架 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-04-0002 | A1小腿曲柄 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-04-0003 | 小腿拉杆A | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-04-0004 | 小腿拉杆C | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-04-0005 | 右小腿下限位 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-04-0006 | 右小腿上限位 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-06-0001 | 足本体 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-06-0002 | 足底后橡胶垫 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-06-0003 | 足底前橡胶垫 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-06-0004 | 足底端盖 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-各模块装配体-三维图纸 | |||
| TA00-03 | 腰部支架组件-装配体 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-00 | 胸腔(无外壳) | 3D STEP | git-lfs pointer — clone upstream |
| TA00-04-00 | 胸腔(有外壳) | 3D STEP | git-lfs pointer — clone upstream |
| TA00-07 | 头部组件-装配体 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00 | 腿部系统(无外壳) | 3D STEP | git-lfs pointer — clone upstream |
| TA00-12-00 | 腿部系统(有外壳全) | 3D STEP | git-lfs pointer — clone upstream |
| TA00 | 青龙人形机器人-总装配 | 3D STEP | git-lfs pointer — clone upstream |
| TA00-03-00-腰部组件-二维图纸 | |||
| TA00-03-0001 | 腰部支架 | 2D drawing (PDF) | Real file |
| TA00-03-0002 | 前部补盲相机支架 | 2D drawing (PDF) | Real file |
| TA00-03-0003 | 侧摆电机支架 | 2D drawing (PDF) | Real file |
| TA00-03-0004 | 前摆电机支架 | 2D drawing (PDF) | Real file |
| TA00-03-0005 | 腰部supports转轴 | 2D drawing (PDF) | Real file |
| TA00-03-0006 | 定位销 | 2D drawing (PDF) | Real file |
| TA00-03-0007 | 定位销把手 | 2D drawing (PDF) | Real file |
| TA00-03-0008 | 尾部补盲相机支架 | 2D drawing (PDF) | Real file |
| TA00-03-0009 | 周转固定片 | 2D drawing (PDF) | Real file |
| TA00-04-00-胸腔系统-二维图纸 | |||
| TA00-04-0001 | 前胸机架 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0002 | 吊环（右） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0003 | 吊环（左） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0004 | 雷达转接板 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0005 | WIFI散热板 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0006 | 交换机固定件 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0007 | 主控固定件 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0008 | 主控固定件（副） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0009 | 云盒supports板 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0010 | 电池固定板 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0011 | 电池固定板（副） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0012 | 环视固定件（后） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0013 | 环视固定件（后镜像） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0014 | 环视固定件（前） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0015 | 环视固定件（前镜像） - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-04-0016 | 后支架 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-07-0001 | 圆柱基座 - 图纸1 | 2D drawing (PDF) | Real file |
| TA00-07-00-头部感知系统-二维图纸 | |||
| TA00-07-01-0003 | TA00-07-01-0003 | 2D drawing (PDF) | Real file |
| TA00-07-01-0004 | TA00-07-01-0004 | 2D drawing (PDF) | Real file |
| TA00-07-01-0005 | TA00-07-01-0005 | 2D drawing (PDF) | Real file |
| TA00-07-01-0006 | TA00-07-01-0006 | 2D drawing (PDF) | Real file |
| TA00-07-01-0007 | TA00-07-01-0007 | 2D drawing (PDF) | Real file |
| TA00-07-01-0008 | TA00-07-01-0008 | 2D drawing (PDF) | Real file |
| TA00-07-01-0009 | TA00-07-01-0009 | 2D drawing (PDF) | Real file |
| TA00-07-01-0010 | TA00-07-01-0010 | 2D drawing (PDF) | Real file |
| TA00-07-01-0011 | TA00-07-01-0011 | 2D drawing (PDF) | Real file |
| TA00-07-01-0012 | TA00-07-01-0012 | 2D drawing (PDF) | Real file |
| TA00-07-01-0013 | TA00-07-01-0013 | 2D drawing (PDF) | Real file |
| TA00-07-01-0014 | TA00-07-01-0014 | 2D drawing (PDF) | Real file |
| TA00-07-01-0015 | TA00-07-01-0015 | 2D drawing (PDF) | Real file |
| TA00-12-00-腿足系统-二维图纸 | |||
| TA00-12-00-0001 | 膝关节销轴 | 2D drawing (PDF) | Real file |
| TA00-12-00-0002 | 膝关节销轴锁紧螺钉 | 2D drawing (PDF) | Real file |
| TA00-12-00-0003 | A1连杆销针C | 2D drawing (PDF) | Real file |
| TA00-12-00-0004 | 连杆衬套B | 2D drawing (PDF) | Real file |
| TA00-12-00-0006 | 脚踝俯仰轴 | 2D drawing (PDF) | Real file |
| TA00-12-00-0007 | 脚踝俯仰轴B | 2D drawing (PDF) | Real file |
| TA00-12-00-0011 | 脚踝俯仰轴垫片 | 2D drawing (PDF) | Real file |
| TA00-12-00-0012 | 脚踝俯仰轴锁紧螺钉 | 2D drawing (PDF) | Real file |
| TA00-12-00-0013 | 十字俯仰轴 | 2D drawing (PDF) | Real file |
| TA00-12-00-0014 | 十字侧摆轴 | 2D drawing (PDF) | Real file |
| TA00-12-00-0015 | 十字侧摆轴衬套 | 2D drawing (PDF) | Real file |
| TA00-12-00-0016 | 踝关节锁紧螺钉 | 2D drawing (PDF) | Real file |
| TA00-12-00-0017 | 十字俯仰轴关节衬套 | 2D drawing (PDF) | Real file |
| TA00-12-00-0018 | 膝关节轴承垫片 | 2D drawing (PDF) | Real file |
| TA00-12-01-0001 | A1髋关节周转电机连接件 | 2D drawing (PDF) | Real file |
| TA00-12-01-0002 | A1髋关节周转电机连接件B | 2D drawing (PDF) | Real file |
| TA00-12-01-0003 | A1周转电机轴承挡边 | 2D drawing (PDF) | Real file |
| TA00-12-01-0004 | 前摆线合配件 | 2D drawing (PDF) | Real file |
| TA00-12-02-0001 | A1 髋关节俯仰电机法兰 | 2D drawing (PDF) | Real file |
| TA00-12-02-0002 | A1俯仰电机supports架 | 2D drawing (PDF) | Real file |
| TA00-12-02-0003 | A1右大腿支架 | 2D drawing (PDF) | Real file |
| TA00-12-02-0004 | 膝关节电机关节轴 | 2D drawing (PDF) | Real file |
| TA00-12-02-0005 | 轴承锁紧螺母 | 2D drawing (PDF) | Real file |
| TA00-12-02-0006 | A1轴承钢套 | 2D drawing (PDF) | Real file |
| TA00-12-02-0007 | A1 摇臂 | 2D drawing (PDF) | Real file |
| TA00-12-02-0008 | 连杆销针 | 2D drawing (PDF) | Real file |
| TA00-12-02-0009 | 连杆锁紧螺钉B | 2D drawing (PDF) | Real file |
| TA00-12-02-0010 | 连杆 | 2D drawing (PDF) | Real file |
| TA00-12-02-0011 | 连杆衬套 | 2D drawing (PDF) | Real file |
| TA00-12-02-0012 | supports轴B | 2D drawing (PDF) | Real file |
| TA00-12-02-0015 | 髋关节俯仰限位块 | 2D drawing (PDF) | Real file |
| TA00-12-04-0001 | A1 右小腿支架 | 2D drawing (PDF) | Real file |
| TA00-12-04-0002 | A1 小腿曲柄 | 2D drawing (PDF) | Real file |
| TA00-12-04-0003 | 小腿拉杆A | 2D drawing (PDF) | Real file |
| TA00-12-04-0004 | 小腿拉杆C | 2D drawing (PDF) | Real file |
| TA00-12-04-0005 | A1 右小腿下限位 | 2D drawing (PDF) | Real file |
| TA00-12-04-0006 | A1右小腿上限位 | 2D drawing (PDF) | Real file |
| TA00-12-06-0001 | 足本体 | 2D drawing (PDF) | Real file |
| TA00-12-06-0002 | 足底后橡胶垫 | 2D drawing (PDF) | Real file |
| TA00-12-06-0003 | 足底前橡胶垫 | 2D drawing (PDF) | Real file |
| TA00-12-06-0004 | 足底端盖 | 2D drawing (PDF) | Real file |
| TA00-12-06 | 脚部组件 | 2D drawing (PDF) | Real file |
| 青龙V2.5 - 电气图纸与开源内容介绍 | |||
| 青龙全尺寸通用人形机器人硬件开源内容 | 2D drawing (PDF) | Real file | |
| 青龙电气原理图-开源版 | 2D drawing (PDF) | Real file | |
3D printing & fabrication
- Qinglong is machined metal, not a desktop-printing project; send the drawings to a CNC machining service.
- The upstream repo stores STEP models in git-lfs (≈1.3 GB for the full assembly, ≈6 GB in total); clone it from GitHub:
git lfs install && git clone https://github.com/loongOpen/OpenLoong-Hardware.git
CAD, code & papers
Get the large files — CAD, STL, STEP and code — straight from the original project:
- Hardware repository (drawings / STEP / schematics) ↗github.com
- Dynamics control openloong-dyn-control ↗github.com
- Official documentation ↗openloong.org.cn
License
Hardware Solderpad Hardware License v2.1 (Apache 2.0 based); software per each repository’s LICENSE.
Image credits
- Image 1: National and Local Co-built Humanoid Robotics Innovation Center / OpenLoong · Solderpad Hardware License v2.1 — source ↗
- Image 2: National and Local Co-built Humanoid Robotics Innovation Center / OpenLoong · Solderpad Hardware License v2.1 — source ↗
- Image 3: National and Local Co-built Humanoid Robotics Innovation Center / OpenLoong · Solderpad Hardware License v2.1 — source ↗
- Image 4: National and Local Co-built Humanoid Robotics Innovation Center / OpenLoong · Solderpad Hardware License v2.1 — source ↗
- Image 5: National and Local Co-built Humanoid Robotics Innovation Center / OpenLoong · Solderpad Hardware License v2.1 — source ↗
- Image 6: National and Local Co-built Humanoid Robotics Innovation Center / OpenLoong · Solderpad Hardware License v2.1 — source ↗
Source: Images and data: OpenLoong community (GitHub loongOpen and the Qinglong hardware open-source specification). Hardware under Solderpad Hardware License v2.1. This site is not affiliated with the original project.
Get the parts
Where to get the parts
Every line in the BOM links to the supplier the original team used. Need help sourcing parts or 3D-printing the structure? Tell us which robot you are building.
02 — Related robots
