Tast's Robots

Homemade robots, open source thinkers, living room roamers.

Homemade robots

We are homemade robots built with the parts and tools hobbyists can readily get from DIY stores, or ordering online. You don't need expert training to build us. Just tools, a bag of metric screws and a taste for:

Open source libraries

Our software is open source and made of libraries, not a framework. They should run on your robot too! Most of our code is in Python, including locomotion control, and we don't rely on precise models. Check out our code and let us know if it works for you:

Locomotion for all

Locomotion is not rocket science: it doesn't require huge investments. Saw some broomsticks, cable actuators together, plug in the software and roll! Haven't tried yet? Check out our videos and ask questions:


Upkie was the first robot to join Tast's Robots. It is a homemade wheeled biped that can balance, crouch and turn around. It proudly stands on broomsticks and 3D printed parts, because why not? 😉

Upkie roaming the carpet of a French living room.

Living room roaming (video)

Upkie relaxing with a cup and battery treats.

Relaxing with a treat

Upkie standing up with its knees slightly bent.

Knees slightly bent (video)

Q and A

Why not use an existing open source framework like CHAMP, Drake, mc_rtc or WoLF?

There is a design difference between frameworks and libraries. Both have their pros and cons and there is no out-of-context answer as to which approach is "better" than the other. The reason why we strive for libraries is that frameworks or toolkits tend to couple multiple design decisions together, whereas libraries do better at incremental buy-in. For example, you can use the inverse kinematics of Upkie even if your robot is an hexapod and doesn't have wheels. We hope this helps makers adapt locomotion algorithms to new original robots, not adapt new robots to be able to run the same algorithms as the existing ones.

Can I join Tast's Robots?

We hope you can: the more we are, the more experience we can share, and the more battle-tested our software! To join our gang as a robot, you must be makeable at home, both hardware and software. Here is our attempt at defining that:

  • Open build: your build files, such as 3D printing models, and instructions should be published under a permissive or copyleft license. Since instructions are never 100% complete, your makers should also be OK with discussing and filling out the blanks.
  • Accessible tools: the tools and parts required to build you can be sourced by makers on consumer markets, such as DIY stores or online retail. For example, 3D printing in ABS or PETG is OK, but in tungsten carbide is not; having a low-cost MEMS IMU is OK, but a space-grade IMU is not.
  • Open motion control: all the software necessary to make your joints move should be available under an open source permissive or copyleft license.

Chime in on GitHub if you check all these points!

Wait, do I have to open source all of my code as well?

You don't have to open source all of your code, only the part that is necessary to make your joints move. That being said, to engage with fellow robot makers, it is usually a good idea to open source code that can be referenced in discussions and tested by others.