ASPIR V2 — Autonomous Support and Positive Inspiration Robot
An improved full-size, 4.3-ft open-source 3D-printed humanoid robot with 33 degrees of freedom. Version 2 brings refined structural design, improved wire routing, and a Mini PC onboard computer. Successor to ASPIR V1.
Overview
ASPIR V2 is the second major revision of the Autonomous Support and Positive Inspiration Robot — a full-size, 4.3-ft open-source 3D-printed humanoid robot built by Choitek as an affordable alternative to research-grade humanoid robots.
Building on the foundation of ASPIR V1, V2 introduced structural improvements, better cable management, and a Mini PC as the onboard computer — increasing processing power and enabling more sophisticated behavior.
Specs & Actuation
- 33 degrees of freedom total
- 6 super-size mega servos per leg
- 4 high-torque standard servos per arm
- 5 metal-gear micro servos per hand
- 2 standard servos for head pan/tilt
- Arduino Mega + servo shield for motor control
- Mini PC onboard computer (upgrade from V1)
Build Info
- 90+ 3D-printed parts — requires a large printer (min 10×10×10in build plate)
- ~300 hours of estimated print time using standard FDM settings
- ~5 rolls of 1kg PLA filament
- Estimated build cost: ~$2,500
- All 3D print files available on GitHub
- Full DIY build guide on Instructables
Support
Made possible with the generous support of the Frank-Ratchye STUDIO for Creative Inquiry at Carnegie Mellon University.
Licensed under CC BY-NC-SA 3.0.