InMoov parts list

Discontinued part: the HobbyKing HK15298B finger servo is no longer made, so plan on a substitute servo. The parts total here is our estimate; the InMoov site does not publish one.

Life-size 3D printed humanoid torso with tendon-driven hands, moved by hobby servos and Arduinos, controlled from a PC through MyRobotLab.

Humanoidsadvanced by Gael Langevin

Total parts cost: $1,500 to $2,500 (cheapest listed sellers add up to about $989)

Our estimate for the default upper body (head, torso, two arms and hands, about 31 servos) from the official Default Hardware Map + BOM; the site gives a parts list, not a total. Low end uses cheap servo substitutes; high end uses US retail Hitec servos and adds the OAK-D Lite. Excludes the PC or tablet, a 3D printer, legs (not motorized in the default build), Kinect and shipping.

Exploded view

Tap any part to see where to buy it. Diagram is schematic, not to scale.

Every part you need

Part	Qty	Spec	Where to buy
Hitec HS-805BB giant-scale servo big joints: shoulders, biceps, arm rotation, head, stomach	14	8 for arms and shoulders (4 per side), 2 for head pan and tilt, 2 for high stomach, 2 for mid stomach (HK15338 allowed there); 24.7 kg.cm at 6V The arm and torso joints carry long printed limbs and need giant-scale torque.	ServoCity: $49.99
HobbyKing HK15298B metal-gear servo (or a fitting substitute) fingers, jaw and neck	13	10 for the fingers (5 per hand), 1 for the jaw, 2 for neck tilt; the hardware map ranks JX PDI-6221MG as the top tested hand servo, MG995 as the weakest Standard-size servos pull the finger tendons and move the jaw and neck.	no verified seller yet
TowerPro MG996R metal-gear servo, 180 degree wrist rotation	2	One per forearm; 11 kg.cm at 6V Turns each wrist; light load, so a cheap servo is enough.	The Pi Hut: GBP 9.00 (unverified)
Corona DS929HV micro servo (or similar 9 g micro servo) eyes	2	Eye pan and tilt; the map also names TowerPro SG91, SG92R and JX PDI-1109MG as options Moves the eye cameras; tiny loads.	Pimoroni: check price (unverified) single; DS-929MG, the metal-gear sibling
Arduino Mega 2560 servo controllers	2	One per side of the body; the BOM notes legs and waist would need more Generate the servo signals and read sensors under MyRobotLab.	Arduino Store: check price (unverified)
InMoov Nervo Board set (shield plus 11 breakout boards) with components wiring boards	2	One set per Arduino Mega; unsoldered; needs about 3 m of 14-conductor ribbon cable per set Turns the Mega into tidy ribbon-cable connectors to each body part.	InMoov: EUR 63.00 boards plus components; out of stock when checked InMoov: EUR 27.50 bare boards only; out of stock when checked
6V high-current supply: 6V 60A switching supply, or 6V 12Ah battery with 6V 1.5A charger servo power	1	The BOM also links a 5V 60A supply that builders trim up to 6V Thirty-odd servos stalling at once draw tens of amps.	Amazon: check price
Luxonis OAK-D Lite (fixed focus) depth camera	1	Current BOM camera; an eye camera (Hercules HD webcam taken apart, or Microsoft LifeCam 3000) is listed as well Vision for tracking and face recognition in MyRobotLab.	Luxonis: $269.00 single; choose fixed focus
PIR motion sensor (retriggering) presence sensor	1	Wakes the robot when someone walks up Cheap trigger for idle and wake behaviors.	Adafruit: $9.95
HC-SR04 ultrasonic sensor distance sensors	2	Mounted in the chest Simple obstacle and distance sensing.	SparkFun: $5.25 (unverified)
Mini PC speakers 8 ohm 10W plus a 6V mini amplifier voice	3	2 speakers and 1 amplifier; a USB sound card is listed in the connected devices Speech output from the PC.	AliExpress: check price (unverified) speakers; BOM link
0.8 mm braided fishing line, 200 lb finger tendons	1	Used in the hands and the head; the BOM also lists 10 small extension springs (0.51 mm wire, 1 cm long) Servos pull these lines to close the fingers.	no verified seller yet
Countersunk M3x20, M4x20, M8x100 machine screws and M3x12, M4x20 wood screws fasteners	1	About 50 M3x20, 50 M4x20, 15 M8x100, 100 M3x12 wood screws (small servos), 50 M4x20 wood screws (big servos) Hold the printed shells together and the servos in their beds.	no verified seller yet
ABS filament (PLA also used by builders) printed structure	1	BOM lists about 1.5 kg per hand pair, 1.5 kg for arms and shoulders, and about 4 kg plus 1.5 kg for head and torso Every structural part is printed.	no verified seller yet
Windows tablet or mini PC running MyRobotLab brain	1	Early builds used a Lenovo 8-inch tablet; later ones an Intel i7-8550 mini PC with 32 GB RAM, plus an 8-port USB 3.0 hub Runs MyRobotLab, speech, vision and the gesture scripts.	no verified seller yet

Quantities follow the official InMoov docs: https://inmoov.fr/build-yours/. "Unverified" prices come from search listings or older BOMs that we could not confirm on the seller's product page.

3D printed parts

Needed. Needs a printer with at least 12x12x12 cm volume; a few parts run a few millimeters over. ABS is preferred, PLA works for many builders. Files are CC BY-NC 3.0, so printed parts cannot be sold commercially. Files: https://inmoov.fr/inmoov-stl-parts-viewer/

Mistakes builders make

The HK15298B finger servo is discontinued and HobbyKing stock dried up; builders use the EZ-Robot heavy duty servo, JX PDI-6221MG or other 180-degree metal-gear servos. Check bracket fit before buying ten.
Stock HK15298B units only sweep about 90 degrees and sit slightly taller than an MG995, so some printed beds need trimming.
Shoulder and bicep HS-805BB servos are hacked: the potentiometer moves out onto the printed gearbox. Photograph the gears and note wire colors first; one builder ruined a servo by mixing them up.
Set min and max limits for every servo in MyRobotLab before moving anything; travel varies between servo brands.
Many shopping links on the official BOM are dead or point to old listings; buy by model and spec, not by link.
The default BOM stops at the waist; legs are a non-motorized stand unless you design your own.

FAQ

How much does it cost to build the InMoov?

About $1,500 to $2,500 in parts at current prices, Our estimate for the default upper body (head, torso, two arms and hands, about 31 servos) from the official Default Hardware Map + BOM; the site gives a parts list, not a total. Low end uses cheap servo substitutes; high end uses US retail Hitec servos and adds the OAK-D Lite. Excludes the PC or tablet, a 3D printer, legs (not motorized in the default build), Kinect and shipping..

Do I need a 3D printer for the InMoov?

Yes. Needs a printer with at least 12x12x12 cm volume; a few parts run a few millimeters over. ABS is preferred, PLA works for many builders. Files are CC BY-NC 3.0, so printed parts cannot be sold commercially.