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HumanoidAgiBot (Zhiyuan Robotics)2024CN

AgiBot Lingxi X1

1.3 m open-source DIY humanoid whose hardware drawings, training code and inference stack AgiBot published on GitHub in October 2024.

activeDIYL1 Compiledbuildable

Difficulty index

11.5/13
11.5
Index breakdown
Classhumanoid+5
Costunknown · midpoint+1.5
DOF31 DOF+3
Parts1597 parts+2
How the index works

Top of the ladder. This robot lives on the humanoid domains.

Specimen photographs

none yet

No photos, renders or videos of AgiBot Lingxi X1 are in the registry yet. Media is added with a credit and an exact license, never hotlinked from press.

Spec card

8/13 known
Degrees of freedom
31
Height
130 cm
Mass
33 kg
Payload
0.5 kg
Speed
1 m/s
Runtime
120 min
Part count
1597
Actuators
AgiBot PowerFlow joint modules (R86-2, R86-3, R52, L28)

Not in the registry: battery, price, bom total, compute, sensors. Left blank rather than guessed.

What you learn building it

  • +Whole-body control
  • +Dozens of actuators on one bus
  • +Balance and fall handling
  • +Safe bring-up of a full-size machine
  • +CNC machining: 162 parts
  • +Sheet metal: 2 parts
  • +Resin (SLA) printing: 70 parts
  • +Tools used: Torque wrench 0.2-1.2 Nm and 1.0-6.0 Nm, Bearing press (recommended), Torque wrench 1.0-6.0 Nm, Rubber mallet, RJ45 crimp tool, Wire stripper, Flush cutters, 80 W soldering station +11
  • +20 assembly steps across 11 subassemblies
  • +Flashing firmware for Mini PC (x86, Ubuntu + PREEMPT_RT): agibot_x1_infer AimRT stack (rl_control_module, dcu_driver_module, joy_stick_module), Xyber-DCU v18 x2 over EtherCAT: xyber_controller SDK in agibot_x1_infer (src/module/dcu_driver_module/xyber_controller), PowerFlow R86-2/R86-3/R52/L28 actuators: ID and run mode are set over Type-C with the vendor host tool; actuator firmware is not published
  • +Testing in simulation (URDF/MJCF) before touching hardware
  • +Running published learned policies

Openness

85/100
  • publicCAD
  • publicBOM
  • not publicFirmware
  • publicSim model
  • publicSoftware
  • publicPolicies

Score 85/100 computed from what is public: CAD 25, BOM 20, sim 20, firmware 15, software 10, policies 10. Software license: MulanPSL-2.0.

Repos & models

URDF ↗MJCF ↗
Site

Build it

Has an ORP build package.
Build it on humanoidrobot.build ↗Drawings, BOMs and SOP are public, but agibot_x1_hardware has no license file (all rights reserved): you may study them, not build from or redistribute them without AgiBot's permission. No part prices; actuator firmware unpublished.

Simulate

Load it in the browser simulator and train a policy before building.

Open on humanoidrobots.training ↗

Next rung

None. This is the top. Find people building it on humanoidrobots.team.

This is the top of the ladder.

NoteSpeed of 3.6 km/h (~1.0 m/s) is from press. Hardware repo has dated releases through 2025-03-07. Repos have seen little activity since early/mid 2025 (train last pushed 2024-10), so treat X1 as a legacy open platform. AgiBot now publishes X2 URDFs instead (AgibotTech/agibot_x2_urdf). Licenses (GitHub license API, 2026-09-25): agibot_x1_infer is Mulan PSL v2; agibot_x1_hardware and agibot_x1_train have no license file, so the hardware files are all rights reserved and hw is left undeclared. DOF 31 = 29 PowerFlow joints (R86-2 x9, R86-3 x6, R52 x10, L28 x4) + 2 grippers, per the hardware BOM/SOP and agibot.com.cn; the earlier 34 had no upstream source. Walking policies ship as ONNX in agibot_x1_infer (rl_walk_leg.onnx, rl_walk_leg_shoulder.onnx). The training URDF/MJCF model the 12 leg joints only.

Sources

  1. [1]agibot_x1_infer: ONNX walking policieschecked 2026-09-25
  2. [2]agibot_x1_train: x1.urdf and xyber_x1_flat.xmlchecked 2026-09-25
  3. [3]agibot_x1_hardware 2025-03-07 BOM and SOP (joint count)checked 2026-09-25
  4. [4]Wikipedia: AgiBotchecked 2026-09-24
  5. [5]agibot_x1_hardware repochecked 2026-09-24
  6. [6]Humanoid.guide AgiBot X1checked 2026-09-24