Reachy Mini
B✓ Confirmed fresh May 27, 2026
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Reachy Mini is an open-source, expressive desktop robot designed for hackers and AI builders who want a tangible platform for multimodal interaction experiments. The kit ships as flat-packed 3D-printed parts and electronics that assemble in roughly two to three hours, giving you a 6-DOF Stewart-platform head, two antennas, and a rotating body base packed with sensors. Creators Pollen Robotics release the full CAD, firmware, and software under the Apache 2.0 license, so every component can be re-printed, modified, or integrated into larger projects. The robot's multimodal nature is its hallmark: a wide-angle camera, microphone, speaker, and IMU feed data into a Python SDK that already wraps AI helpers for vision, speech, and language. Out of the box you can run LLM-driven conversation, real-time hand-tracking, internet radio, or any community app published on the Hugging Face Spaces dashboard. One-click install from the dashboard flashes an app directly onto the robot, turning Reachy Mini into a voice assistant, gesture mirror, or telepresence puppet without writing code. Two hardware tiers let you pick the level of autonomy. The Wireless version carries a Raspberry Pi Compute Module 4, on-board battery, and Wi-Fi, making the robot completely untethered. The Lite variant drops the battery and CM4, instead streaming sensor data and receiving trajectories over a single USB-C cable from a nearby PC—ideal for developers who already have GPU horsepower. Both editions share the same kinematics and software stack, and a MuJoCo simulation model lets you prototype actions before printing a single part.
🖨 Print Files (32)
body_down_3dprint.stl
body_top_3dprint.stl
body_turning_3dprint.stl
body_foot_3dprint.stl
antenna_body_3dprint.stl
antenna_holder_l_3dprint.stl
Required Hardware
Reachy Mini is sold as a kit by Pollen Robotics / Hugging Face. Kit pricing: Wireless ~$449 and Lite ~$299 (kit subsidizes the BOM via volume sourcing). Source: Hugging Face Reachy Mini hardware datasheet. All hardware design files Apache 2.0 + CC BY-NC-SA.
Reachy Mini (Wireless) — 6-DOF Stewart head + 1-DOF body + 2 antennas + CM4 + battery
| Component | Qty | Unit Price | Total | Notes |
|---|---|---|---|---|
| Dynamixel XC330-M288-PG servo | 1 | $103.39 | $103.39 | Body base rotation; custom plastic-gear variant of XC330-M288-T |
| Dynamixel XL330-M077-T servo | 2 | $27.49 | $54.98 | Antennas (1 each) |
| Dynamixel XL330-M288-T servo | 6 | $27.49 | $164.94 | Stewart-platform head (6 DOF: 3 rot + 3 trans) |
| Raspberry Pi CM4 (CM4104016) | 1 | $115.00 | $115.00 | 4 GB RAM, 16 GB eMMC, dual-band Wi-Fi/BT5 |
| CM4 controller board | 1 | n/a | — | Custom Pollen PCB: Dynamixel TTL bus, CSI, mic, USB-C passthrough |
| Power board | 1 | n/a | — | Custom Pollen PCB; 6.8–7.6 V distribution |
| LiFePO4 battery 6.4 V 2000 mAh | 1 | $27.95 | $27.95 | 12.8 Wh, OCP/OVP/UVP/short/temp protected |
| Raspberry Pi Camera Module 3 Wide | 1 | $35.00 | $35.00 | Sony IMX708, 12 MP, 120° FOV, autofocus |
| Seeed reSpeaker XVF3800 mic array | 1 | $54.99 | $54.99 | 4× PDM MEMS mics, 16 kHz, 64 dBA SNR |
| 5 W 4 Ω speaker | 1 | $4.95 | $4.95 | DSI-connected |
| Wi-Fi patch antenna 2.4/5 GHz | 1 | $3.50 | $3.50 | 2.79 dBi, omnidirectional |
| Structural parts (ABS/PC/Al/Steel) | — | n/a | — | 3D-printed + machined; CAD released by Pollen |
| Wireless retail subtotal (priced parts) | ~$565 | Kit MSRP ~$449 |