One of the most important challenges for a professor in the classroom is to engage the students with the class topics. There is necessarily some apathy or disinterest due to distractions such as cell phones, tablets, or just idleness. However, the use of open-source platforms allows a wide variety of applications and encourages opportunities for collaboration and acceleration of students’ learning by being immersed in projects that require different types of skills. This paper aims to measure the impact that a humanoid robot generates on the engagement of students in disciplinary courses, demystifying the complexity of robots. The hypothesis is based on the interest that a humanoid robot generates among the students and thereby to keep their attention by involving them in the design, construction, assembly, and corresponding tuning. The objective of this proposal is to engage students in the teaching–learning process through open-source technology for robotics. To validate the proposal, the construction of a pair of humanoid robots is included as a tool for improving the learning during two academic terms for a sample of 21 undergraduate mechatronics engineering students. The design and construction of the humanoid robots is accomplished using an open-source technology platform, additive manufacturing, and incremental innovation. The research methodology is quantitative based on a reliable survey, which measures the perception of the students regarding to their own engagement, motivation, and significant learning during the development of this project. The statistical analysis applied to such variables of interest validates the initial hypothesis. The obtained results prove that this educational innovation proposal improves the learning process, the students’ engagement, and motivation in classes.