The world's first printable open-source humanoid, starter kit.
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Latest commit e18b0f2 Nov 28, 2016 @Guvalif Guvalif Update

PLEN2 | PLEN Project Company Inc.

The world's first printable open-source humanoid.

Getting Started

  1. Download this repository.
  2. Get control boards and servo motors. Buy all!
  3. Install firmware. (This is placed "/arduino/firmware/" directory.) See also...
  4. Print and assemble all *.stl files. (There are in the "/stl/" directory.)
  5. Configure home positions of joints. (This step is done by using PLEN Utils.) See also...
  6. Write all motions. (Please check "/motions/*/" directory and also use PLEN Utils.) See also...
  7. Hello, world where PLEN is!

Recmmended Software Set

Enjoy More, with PLEN :)

Development Repositories

If you want to customize something of PLEN2 yourself, please check repositories below.

3D Model


We define here as the default repository of the firmware, and it's already installed on a control-board.

If you are interested deeply in the firmware, please check a development repository.



Web Application


EAGLE PCB Design Software is the tool of choice for thousands of engineers worldwide. With 3 modules and a common interface, EAGLE offers a variety of product combinations and allows every user to choose the configuration that meets their individual requirements. (origin:


You can see the all open-source products on the GitHub account.

Laws of PLEN

You could use PLEN for every imaginable things, but please observe the following laws strictly.

  1. PLEN must not fight.
  2. PLEN must not give someone a feeling of discomfort.
  3. PLEN must be able to inherit its characteristics.