TechnologySpecsCommunityLogGitHub →

Open source humanoid robotics

Meet Steve.

A 20-DOF humanoid robot powered by ROS2. Built to move, designed for research and real-world autonomy.

View on GitHub→Read the docs
Steve — 20-DOF humanoid robot
scroll

Steve is an open-source humanoid built for researchers and builders. Every joint, every gain, every line of code — yours to use, modify, and improve.

demo video

Single motor end-to-end test · RS03 on can0

What's inside

Precision at every joint

20

Degrees of freedom

ROS 2

Jazzy Jalisco

3

Motor series

100

Hz control loop

labeled robot diagram

SVG with joint annotations

Capabilities

What it can do

motor control

steveros_hardware

Motor Control

Robstride RS-series motors over SocketCAN. Position and velocity command interfaces with spline-interpolated trajectories.

View source

vr teleoperation

steveros_ik

VR Teleoperation

Real-time inverse kinematics with Pink IK solver. Control every joint from a VR headset with sub-frame latency.

View source

mujoco simulation

steveros_mujoco

MuJoCo Simulation

Full physics simulation matching the production URDF. Validate trajectories and controllers before deploying to hardware.

View source

Architecture

How it all connects

ros2_control→hardware_interface→SocketCAN→motors

Trajectory

joint_trajectory_controller with velocity feedforward

Interfaces

Position + velocity command interfaces

IK Solver

Pink IK solver for VR teleoperation

Transport

SocketCAN hardware interface on can0

Browse packages→

Hardware

The exact specs

RS04

Robstride

Hip pitch, knee

Torque

60 Nm

Velocity

±15 rad/s

Kp

85

Kd

5.0

RS03

Robstride

Shoulders, hip roll/yaw

Torque

40 Nm

Velocity

±20 rad/s

Kp

40

Kd

4.0

RS02

Robstride

Elbow, shoulder yaw, ankle

Torque

14 Nm

Velocity

±44 rad/s

Kp

30

Kd

1.0

Communication

SocketCAN

can0

Control loop

100 Hz

10ms cycle

Form factor

KBot

K-Scale

Total DOF

20

full body

Open Source

Fork it. Break it.
Make it better.

The hardware interface, URDF, simulation, and teleoperation stack are all on GitHub.

Build one

Full hardware BOM and assembly guide. Every part sourced and documented.

Hardware guide

Write code

ROS2 packages, hardware interface, IK solver. Contribution guide included.

Contribute

Share research

Design postmortems, motor tuning docs, architecture decisions. All public.

Read the docs

Progress

Build log

Feb 25, 2026

Hardware interface rewrite complete

Single motor tested end-to-end with sliders + rviz. Full robot URDF updated with K-Scale production gains.

Feb 20, 2026

Stick-slip root cause found

High Kp + step commands + gearbox friction. Fixed with lower Kp and trajectory controller with velocity feedforward.

Feb 15, 2026

K-Scale production gains integrated

RS02/RS03/RS04 gains from ksim-kbot deploy.py verified on hardware. Documented in motor_oscillation_postmortem.md.

Stay in the loop

Build updates, not spam.