Before You Start

This is the right place to start if you are deciding whether Asimov v0 is for you, evaluating the build, or preparing to work through this manual.

Asimov v0 is an open-source bipedal legs robot. This manual covers how the legs are designed, assembled, and brought from simulation work to real hardware locomotion. It is part of the broader Asimov project, which you can explore at asimov.inc.

What this is

This manual is focused on Asimov v0, specifically:

• the leg hardware architecture
• the fabrication and assembly workflow
• bring-up and operating context for the legs
• the simulation and reinforcement-learning stack used for locomotion

What this is not

This is not a complete full-body humanoid operating guide.

It is also not a lightweight consumer build booklet. The current emphasis is the lower body, the technical decisions behind it, and the workflow required to take it from components to working hardware.

Core resources

If you want the source-of-truth artifacts behind this manual, start here:

• Asimov v0 repository: the main source repository for the robot, including the published motor list, mechanical assets, and supporting project files.
• Asimov v0 sim model: the simulation-model directory used as the basis for simulator-side work.
• Asimov v0 lower-body 3D file: browser-viewable lower-body geometry for inspecting the leg design at a high level.

If you are trying to understand whether Asimov v0 matches your needs, those three links usually answer the first serious questions: what the robot is, how the legs are packaged, and where the simulation artifacts live.

Who this is for

This manual is intended for readers who want one of two things:

• to understand how Asimov v0 is designed and why specific hardware and control choices were made
• to build, assemble, and validate the legs themselves

It is a good fit for robotics engineers, advanced hobbyists, research teams, and technical builders who are comfortable working across mechanics, electronics, embedded systems, and simulation.

Expected effort

Asimov v0 is a serious hardware project, not a one-hour weekend kit.

You should expect meaningful time in:

• procurement and part preparation
• fabrication and finishing
• mechanical assembly
• wiring and electronics checks
• bring-up, debugging, and calibration
• simulation and policy validation before any walking attempt

The exact build time and cost will depend on whether you are sourcing parts independently or starting from a kit, how much fabrication you do yourself, and how much prior robotics experience you already have.

Safety

Treat Asimov v0 as powered electromechanical hardware, not as a toy.

Before working on the robot, make sure you have:

• a stable workspace with room to support or suspend the robot safely
• a plan for power isolation and emergency shutdown
• basic electrical test tools such as a multimeter
• a controlled bring-up process for motors, wiring, and motion tests

Do not attempt first power-on, homing, or motion tests casually. Early mistakes in wiring, joint direction, or configuration can damage components or create unsafe motion.

What success looks like

For most builders, success should be evaluated in stages:

1. You understand the system architecture and have the required parts, tools, and workspace.
2. The hardware is assembled correctly and passes basic electrical and mechanical checks.
3. The robot can be powered, homed, and verified safely.
4. The software and simulation stack are configured well enough to validate the control path.
5. The robot reaches stable real-world locomotion behavior on hardware.

The right first milestone is usually not “make it walk immediately.” The right first milestone is a clean, safe, verifiable bring-up.

Where to go next

• Read the Overview for the structure of the manual and the recommended reading order.
• Go to Hardware Design if you want to understand the robot before sourcing parts.
• Visit asimov.inc for the broader project overview.
• Visit the Asimov DIY Kit if you are evaluating the broader full-body hardware package.