Latest: Technical note — deterministic boot-time offset reconstruction (Jul 2026).
Humanoid Mechanics
Inside Human Proportions
Tendon-driven actuation inside real human dimensions. Phase 0 public evidence now covers ankle and knee mechanics; the hip hybrid firmware path is implemented, with bench bring-up still in progress.
Full leg prototype assembly
Right ankle prototype — 2-DOF motion test
Right knee prototype — 1-DOF motion test
About Alia
Building humanoid mechanics inside real human proportions is hard. Accurate dimensions. Mechanics hidden inside. No compromises on form. This is not a commercial product; it is iterative engineering work documented in public as the lower body is validated step by step.
Evidence: Joint Design Logs #001 (Ankle) and #002 (Knee) with technical breakdowns and validation notes · Technical notes published as prior art.
Phase 0 – public since Oct 31, 2025. Lower-body documentation is public: STL files, electronics board files, joint-controller firmware, host software, and technical specs. The current surface is for reviewing evidence and following validation, not for broad hardware collaboration yet.
Review the repository on GitHub, read the public milestones, or open an issue if you have a precise question or finding.
Technical Focus
Real Human Proportions
Accurate anatomical dimensions as the primary constraint. Mechanics must fit inside, not the other way around.
Tendon-Driven Actuation
Cables routing torque through the structure, inspired by biological systems. Motors placed strategically, force transmitted via tendons.
Transparent Documentation
What works and what doesn't, all out in the open as we learn. No shortcuts. Just iterative work.
Current Release Path
Phase 0 is about making the lower body technically credible in public: validate joints individually, document limits honestly, and move toward stronger integrated lower-body evidence before widening the collaboration surface.
Public Validation
Status: Active
STL files, electronics, firmware, host software, and design logs are public. Current focus: ankle and knee evidence, then integrated lower-body motion under repeatable test conditions.
STEP Release
Status: Validation-gated
STEP files and broader manufacturing documentation are the next release step, planned only once lower-body validation is stronger. Hardware roadmap details live in the repository.
Full CAD + Broader Collaboration
Status: Future
Full CAD source release and a wider contribution surface come later, after the design is more mature and the public evidence base is stronger.
Documentation & Updates
Phase 0 lower-body material was released on Oct 31, 2025. Joint Design Logs #001 (ankle) and #002 (knee) are live. Current public evidence covers individual ankle and knee validation; the hip firmware path is implemented, but hip bench validation is still pending.
Latest: Technical note — Deterministic boot-time offset reconstruction for tendon-driven joints (Jul 18, 2026), published as prior art. Previously: first natural walking gait achieved in physics simulation via motion-tracking reinforcement learning (Jun 2026 — simulation results, labeled as such; hardware walking is gated by remaining hardware).
- Technical Notes: Method writeups — Engineering methods published as prior art; latest: boot-time offset reconstruction (Jul 2026)
- Joint Design Logs: #002 Knee · #001 Ankle
- GitHub Repository: Repository, docs, and issues — Best place to review current technical state
- Public Updates: Milestone log — Historical release notes with current roadmap notes
- Report Findings: GitHub Issues — Bug reports, documentation gaps, and replication feedback
- X (Twitter): @AliaHumanoid — Updates, prototype photos, test videos
- YouTube: @aliahumanoid — Technical breakdowns and motion demos