Downloads

Download CAD files, simulation models, and meshes for Asimov v0

Downloads

All Asimov v0 design files, simulation models, and meshes are available for download. The project is released under the CERN-OHL-S-2.0 license.

CAD Files

Complete Lower Body CAD

Full STEP file for the ASV0 lower body assembly including all 12 DOF actuation

3D Visualization

Interactive 3D view of the complete lower body assembly

Mechanical Design Files

The complete mechanical design is available in the /mechanical directory:

• ASV0_lowerBody.STEP - Complete lower body assembly in STEP format
• naming_convention.png - Joint and component naming reference
• ankle_mechanism.md - Detailed RSU (Revolute Spherical Universal) ankle mechanism documentation

The mechanical design is compatible with MJF (Multi Jet Fusion) 3D printing for low-volume manufacturing.

Simulation Models

MuJoCo Model

Complete MuJoCo XML model for physics simulation

STL Meshes

Individual STL mesh files for all components

MuJoCo XML

The simulation model is located in /sim-model/xmls/:

• asimov.xml - Complete MuJoCo simulation model with kinematics and dynamics

STL Mesh Files

All component meshes are available in /sim-model/assets/meshes/:

Left Leg Components:

• left_hip_pitch_link.STL
• left_hip_roll_link.STL
• left_hip_yaw_link.STL
• left_knee_link.STL
• left_ankle_pitch_link.STL
• left_ankle_roll_link.STL
• left_toe_link.STL

Right Leg Components:

• right_hip_pitch_link.STL
• right_hip_roll_link.STL
• right_hip_yaw_link.STL
• right_knee_link.STL
• right_ankle_pitch_link.STL
• right_ankle_roll_link.STL
• right_toe_link.STL

Shared Components:

• pelvis_link.STL

GitHub Repository

Asimov v0 Repository

Clone or download the complete source repository

git clone https://github.com/asimovinc/asimov-v0.git

License Information

Asimov v0 is licensed under CERN-OHL-S-2.0 (CERN Open Hardware Licence Version 2 - Strongly Reciprocal).

The CERN-OHL-S is a strongly reciprocal open hardware license that:

• Allows you to use, study, modify, share, and distribute the hardware designs
• Requires that any modifications or derivative works be released under the same license
• Permits commercial use and manufacturing
• Ensures the freedom to use the design for any purpose

Key License Terms

• You may copy and distribute verbatim copies of the design files
• You may modify the designs, but must make modified sources available
• If you manufacture and distribute products, you must provide recipients with the complete source files
• Modified versions must be licensed under CERN-OHL-S or a compatible license
• No warranty is provided (AS-IS basis)

For the complete license text, see the LICENSE.txt file in the repository.

Motor Specifications

Motors are sourced from Encos:

Joint Type	Model	Application
Hip Pitch	EC-A6416-P2-25	Hip flexion/extension (120 Nm)
Hip Roll	EC-A5013-H17-100	Hip abduction/adduction (90 Nm)
Hip Yaw	EC-A3814-H14-107	Hip rotation (60 Nm)
Knee Pitch	EC-A4315-P2-36	Knee flexion/extension (75 Nm)
Ankle A	EC-A4310-P2-36	Ankle dorsi/plantarflexion (36 Nm)
Ankle B	EC-A4310-P2-36	Ankle inversion/eversion (36 Nm)

Motor specifications and sourcing information are subject to availability. Contact the community for alternative sourcing options.