開源 人形機器人
InMoov 真人尺寸 3D 列印人形
法國設計師 Gaël Langevin 2012 年發起的開源 3D 列印真人尺寸人形機器人，以普通 RC 舵機和 Arduino 驅動，軟體為 MyRobotLab，全球大量學校和創客復刻。
- 類型
- 真人尺寸人形（上身為主）
- 尺寸
- 真人 1:1
- 舵機
- HK15298B、HS805BB、MG996R 等
- 主控
- 2 × Arduino Mega / Intel NUC
- 成本
- 官方未給整機價
- 結構
- ABS / PLA 列印件
- 開源硬體與開源程式碼
- 完整物料清單，附購買鏈接
- 直達原項目的圖紙、程式碼和論文
01 — 項目詳情
概況、物料清單與資料
项目概况
InMoov 最初只是一只机械手，后来扩展成手臂、头部、躯干、腹部和腿部。作者用 Blender 设计，所有零件都能在普通桌面打印机上打印。
手指用编织线驱动，头部有眼球、下颌和颈部机构；开源软件 MyRobotLab 负责语音、视觉和手势。它是教育和展会里最常见的开源人形之一。
关键参数
| 舵机 | 手指 HK15298B、手腕 MG996R、肩 / 臂 / 头 / 腹 Hitec HS805BB、眼睛 DS929HV |
|---|---|
| 主控 | 2 × Arduino Mega + Nervo Board；新版用 Intel NUC 运行 MyRobotLab |
| 传感器 | 摄像头、OAK-D-Lite、PIR、HC-SR04 超声波、手指压力传感器 |
| 电源 | 6 V 12 Ah 电池或 6 V 60 A 开关电源 |
物料清单 BOM
官网 BOM（2016）只给部分价格，有价格的条目合计约 EUR 798，不含 NUC、相机和大部分头部 / 腹部舵机，不代表整机价格。
下载整理版 BOM（.xlsx） · 官方 BOM 原表 ↗
| 零件 | 型号 / 规格 | 数量 | 单价 | 小计 | 购买链接 |
|---|---|---|---|---|---|
| 通用 | |||||
| Arduino Mega | 2 | €40.00 | €80.00 | ||
| 沉头内六角螺栓 | M3x20mm | 50 | |||
| 沉头内六角螺栓 | M4x20mm | 50 | |||
| 沉头内六角螺栓 | M8x100mm | 15 | |||
| 十字沉头木螺钉 | M3x12mm | 100 | |||
| 十字沉头木螺钉 | M4x20mm | 50 | |||
| 手与前臂(左右) | |||||
| HK15298B 舵机 | HK15298B | 10 | €18.00 | €180.00 | |
| MG996R 舵机（旋转手腕） | MG996R | 2 | €11.00 | €22.00 | |
| 编织线/钓鱼线 | 0.8mm, 200LB | 1 | €10.00 | €10.00 | |
| 杂项螺栓 | 1 | €10.00 | €10.00 | ||
| 天然色 ABS | 1500 g | 1 | €70.00 | €70.00 | |
| 拉簧 | 线径 0.51mm，长 1cm (13/64″x13/16″) | 10 | |||
| 手臂与肩(左右) | |||||
| Hitec HS805BB 舵机 | HS805BB | 8 | €30.00 | €240.00 | |
| 杂项螺栓 | 1 | €10.00 | €10.00 | ||
| 黑/黄/天然色 ABS | 1500 g | 1 | €56.00 | €56.00 | |
| 头部与躯干 | |||||
| Hitec HS805BB（头 上下/左右） | HS805BB | 2 | |||
| HK15298B（下颌机构） | HK15298B | 1 | |||
| HK15298B（颈部倾斜，主从） | HK15298B | 2 | |||
| DS929hv Corona 或类似（眼睛机构） | DS929HV | 2 | |||
| 摄像头 | Hercules HD（拆解）或 Microsoft LifeCam3000 | 1 | |||
| 深度相机 | OAK-D-Lite (fixed focus) | 1 | |||
| 天然色 ABS | 约 4 kg | 1 | |||
| 编织线/钓鱼线 | 0.8mm, 200LB | 1 | €5.00 | €5.00 | |
| 杂项螺栓 | 1 | €10.00 | €10.00 | ||
| 天然色 ABS | 1500 g | 1 | €70.00 | €70.00 | |
| 电池 6V 12Ah + 充电器 6V 1.5A | 1 | €35.00 | €35.00 | ||
| [替代] 开关电源 5V 50A（可调到 6V） | 1 | fr.aliexpress.com ↗ | |||
| 迷你 PC 喇叭 | 8Ω | 2 | |||
| 迷你功放 | 10W, 6V | 1 | |||
| PIR 人体感应 | retriggered | 1 | |||
| 线缆与导线 | 1 | ||||
| 腹部 | |||||
| Hitec HS805BB（上腹） | HS805BB | 2 | |||
| Hitec HS805BB 或 HK15338（中腹） | HS805BB / HK15338 | 2 | |||
| 最新配置(NUC) | |||||
| 迷你 PC（NUC） | Intel i7-8550 / 256GB SSD / 32GB RAM | 1 | |||
| USB3.0 集线器 | 8 口 | 1 | |||
| Nervo Board | 2 | ||||
| Arduino Nano | 1 | ||||
| NeoPixel | 3 | ||||
| 超声波传感器 | HC-SR04（原文写 HC-SRC04） | 2 | |||
| 手指压力传感器 | 10 | ||||
| Hercules 摄像头 | 2 | ||||
| USB 声卡 | 1 | ||||
| 无线耳麦 | Logitech H600 | 1 | |||
| 喇叭 | 10W | 2 | |||
| 开关电源 | 6V 60A | 1 | |||
3D 打印与制造
- 官方用 ABS（手 + 前臂约 1.5 kg，头 + 躯干约 4 kg）；ABS 用丙酮粘接，PLA 用双组分环氧胶。
- 多数零件 30% 填充、3 层外壳、无支撑；手腕齿轮用最高质量打印。
- 全部 STL 在官网零件库按部位下载；接线图（Default Hardware Map）和零件清单也在官网。
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：
- 官网 ↗inmoov.fr
- STL 零件库 ↗inmoov.fr
- 硬件接线图与 BOM ↗inmoov.fr
- 装配教程 ↗inmoov.fr
- MyRobotLab ↗github.com
- InMoov2 服务脚本 ↗github.com
- Nervo Board 转接板 ↗inmoov.fr
- 官网图库 ↗inmoov.fr
开源协议
零件 CC BY-NC；MyRobotLab / InMoov2 代码 Apache-2.0。
图片来源与授权
- 图 1：Gaël Langevin / inmoov.fr · 照片版权归作者 — 来源 ↗
- 图 2：Gaël Langevin / inmoov.fr · 照片版权归作者 — 来源 ↗
- 图 3：Gaël Langevin / inmoov.fr · 照片版权归作者 — 来源 ↗
- 图 4：Enric · CC BY-SA 4.0 — 来源 ↗
- 图 5：Matti Blume · CC BY-SA 4.0 — 来源 ↗
- 图 6：DanielPenfield · CC BY-SA 4.0 — 来源 ↗
- 图 7：Gaël Langevin / inmoov.fr · 照片版权归作者 — 来源 ↗
- 图 8：Gaël Langevin / inmoov.fr · 照片版权归作者 — 来源 ↗
來源：圖片與資料來源：InMoov（Gaël Langevin，inmoov.fr）與 MyRobotLab。零件按 CC BY-NC 發布，照片版權歸原作者。本站與原項目無隸屬關係。
顯示原文 (English)
Overview
InMoov began as a single robotic hand and grew into arms, head, torso, belly and legs. It is designed in Blender, and every part prints on an ordinary desktop printer.
Fingers are tendon-driven; the head has eye, jaw and neck mechanisms; the open-source MyRobotLab handles speech, vision and gestures. It is one of the most common open humanoids in classrooms and exhibitions.
Key specifications
| Servos | Fingers HK15298B, wrist MG996R, shoulder / arm / head / belly Hitec HS805BB, eyes DS929HV |
|---|---|
| Controllers | 2 × Arduino Mega + Nervo Board; newer builds run MyRobotLab on an Intel NUC |
| Sensors | Cameras, OAK-D-Lite, PIR, HC-SR04 ultrasonic, finger pressure sensors |
| Power | 6 V 12 Ah battery or 6 V 60 A power supply |
Bill of materials
The website BOM (2016) prices only some items — about €798 for those — excluding the NUC, cameras and most head/belly servos, so it is not a full-build price.
Download the BOM (.xlsx) · Official BOM ↗
| Part | Model / spec | Qty | Unit | Subtotal | Supplier |
|---|---|---|---|---|---|
| General | |||||
| Arduino Mega | 2 | €40.00 | €80.00 | ||
| Countersunk hex socket bolt | M3x20mm | 50 | |||
| Countersunk hex socket bolt | M4x20mm | 50 | |||
| Countersunk hex socket bolt | M8x100mm | 15 | |||
| Phillips countersunk wood screw | M3x12mm | 100 | |||
| Phillips countersunk wood screw | M4x20mm | 50 | |||
| Hand & forearm (L/R) | |||||
| HK15298B servo | HK15298B | 10 | €18.00 | €180.00 | |
| MG996R servo (wrist rotation) | MG996R | 2 | €11.00 | €22.00 | |
| Braided line / fishing line | 0.8mm, 200LB | 1 | €10.00 | €10.00 | |
| Assorted bolts | 1 | €10.00 | €10.00 | ||
| Natural ABS | 1500 g | 1 | €70.00 | €70.00 | |
| Extension spring | wire 0.51 mm, length 1 cm (13/64″×13/16″) | 10 | |||
| Arm & shoulder (L/R) | |||||
| Hitec HS805BB servo | HS805BB | 8 | €30.00 | €240.00 | |
| Assorted bolts | 1 | €10.00 | €10.00 | ||
| Black / yellow / natural ABS | 1500 g | 1 | €56.00 | €56.00 | |
| Head & torso | |||||
| Hitec HS805BB (head pitch / yaw) | HS805BB | 2 | |||
| HK15298B (jaw) | HK15298B | 1 | |||
| HK15298B (neck tilt, master/slave) | HK15298B | 2 | |||
| DS929hv Corona or similar (eyes) | DS929HV | 2 | |||
| Camera | Hercules HD (stripped) or Microsoft LifeCam 3000 | 1 | |||
| Depth camera | OAK-D-Lite (fixed focus) | 1 | |||
| Natural ABS | about 4 kg | 1 | |||
| Braided line / fishing line | 0.8mm, 200LB | 1 | €5.00 | €5.00 | |
| Assorted bolts | 1 | €10.00 | €10.00 | ||
| Natural ABS | 1500 g | 1 | €70.00 | €70.00 | |
| Battery 6 V 12 Ah + charger 6 V 1.5 A | 1 | €35.00 | €35.00 | ||
| [Alt] power supply 5 V 50 A (adjustable to 6 V) | 1 | fr.aliexpress.com ↗ | |||
| Mini PC speakers | 8Ω | 2 | |||
| Mini amplifier | 10W, 6V | 1 | |||
| PIR motion sensor | retriggered | 1 | |||
| Cables & wires | 1 | ||||
| Belly | |||||
| Hitec HS805BB (upper belly) | HS805BB | 2 | |||
| Hitec HS805BB or HK15338 (mid belly) | HS805BB / HK15338 | 2 | |||
| Latest setup (NUC) | |||||
| Mini PC (NUC) | Intel i7-8550 / 256GB SSD / 32GB RAM | 1 | |||
| USB 3.0 hub | 8-port | 1 | |||
| Nervo Board | 2 | ||||
| Arduino Nano | 1 | ||||
| NeoPixel | 3 | ||||
| Ultrasonic sensor | HC-SR04 | 2 | |||
| Finger pressure sensor | 10 | ||||
| Hercules camera | 2 | ||||
| USB sound card | 1 | ||||
| Wireless headset | Logitech H600 | 1 | |||
| Speakers | 10W | 2 | |||
| Power supply | 6V 60A | 1 | |||
3D printing & fabrication
- The official build uses ABS (≈1.5 kg for hand + forearm, ≈4 kg for head + torso); bond ABS with acetone and PLA with two-part epoxy.
- Most parts at 30% infill, 3 shells, no supports; print wrist gears at the highest quality.
- Download every STL by body part from the official parts library; the wiring diagram (Default Hardware Map) and parts list are on the website too.
CAD, code & papers
Get the large files — CAD, STL, STEP and code — straight from the original project:
- Official website ↗inmoov.fr
- STL parts library ↗inmoov.fr
- Hardware map & BOM ↗inmoov.fr
- Build tutorials ↗inmoov.fr
- MyRobotLab ↗github.com
- InMoov2 service ↗github.com
- Nervo Board ↗inmoov.fr
- Gallery ↗inmoov.fr
License
Parts CC BY-NC; MyRobotLab / InMoov2 code Apache-2.0.
Image credits
- Image 1: Gaël Langevin / inmoov.fr · © the author — source ↗
- Image 2: Gaël Langevin / inmoov.fr · © the author — source ↗
- Image 3: Gaël Langevin / inmoov.fr · © the author — source ↗
- Image 4: Enric · CC BY-SA 4.0 — source ↗
- Image 5: Matti Blume · CC BY-SA 4.0 — source ↗
- Image 6: DanielPenfield · CC BY-SA 4.0 — source ↗
- Image 7: Gaël Langevin / inmoov.fr · © the author — source ↗
- Image 8: Gaël Langevin / inmoov.fr · © the author — source ↗
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02 — 相關机器人
