Auto-assembled, not yet reviewed

Berkeley Humanoid

Mid-scale Berkeley humanoid research platform for learning-based locomotion (paper only; hardware designs not released).

Paper only. Published as research. No hardware design files are released, so it cannot be built from source.

Lifecycle source

  • No hardware design files released
  • biped robot12 DoF
  • $9,955source total
Reproducibility0/100Sparse source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
Berkeley Humanoid research 12-DoF biped robot, 3D render from robot.urdf
main assembly 3D · robot.urdf

About Berkeley Humanoid

Berkeley Humanoid is a 16 kg fully electric mid-scale humanoid research platform for learning-based locomotion control. The ICRA 2025 paper reports two 6-DoF legs, custom planetary-gear actuators, hollow-shaft cable routing, EtherCAT motor-driver and IMU communication, an onboard Intel i7-1255U computer, two battery packs, and a small-quantity hardware cost table totaling $9,955 without arms. The public Isaac Lab training repository contains simulation and policy code, while a separate BSD-licensed robot-description repository provides the URDF and STL meshes for the locomotion-focused version. No hardware CAD, actuator or electronics designs are released; only the training code and a URDF/STL description are public.

Licenses

Hardware
No hardware design files releasedthe URDF/STL description README states BSD-3-Clause but has no LICENSE file
Software
BSD-3-Clause
Docs
Not published

Degrees of freedom

12 DoF legs 12

Breakdown source

Bipedsource

How to build Berkeley Humanoid

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions.

  1. Build the actuators

    Build the 5013, 8513, 8518 and 10413 custom planetary actuators described in the paper, including hollow-shaft cable routing where used.

    Motari summaryarxiv.org/abs/2407.21781

  2. Machine or order the structure

    Fabricate the torso and leg structure using the paper's 7075/6061 aluminum and tool-steel gearbox/linkage assumptions.

    Motari summaryarxiv.org/abs/2407.21781

  3. Assemble the legs and torso

    Assemble the two 6-DoF legs and torso, then use the public URDF/STL description repository to validate link and joint layout.

    Motari summaryarxiv.org/abs/2407.21781

  4. Integrate power and compute

    The paper names the onboard computer (Intel i7-1255U), two DJI TB50 batteries, an IMU and an EtherCAT architecture; no wiring harness guide or electronics designs are published.

    Motari summaryarxiv.org/abs/2407.21781

  5. Deploy the RL policy

    Use the Isaac Lab training repository for Velocity-Rough-Berkeley-Humanoid tasks, then validate carefully before hardware deployment.

    Motari summaryarxiv.org/abs/2407.21781
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

Berkeley Humanoid bill of materials

4 rows

Cost to build

$9,955USDsource total
  • small-quantity production cost of torso and two 6-DoF legs, no arms$9,955source total

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

Berkeley Humanoid parts, as the source lists them. Prices are the source's, not checked against vendors.

Berkeley Humanoid bill of materials
PartQtySpecSourceConfidence
Custom actuator settwo 6-DoF legs, no arms
122x 5013, 6x 8513, 2x 8518, 2x 10413; 9:1 planetary gear ratio; peak torques 9.7 / 45.3 / 62.6 / 81.1 Nm
self-build$6,894 subtotalBerkeley Humanoid ICRA 2025 paper Table II and Table III
high
Torso, leg structure and mechanical hardwaresmall-quantity production
17075/6061 aluminum structure, tool-steel gearbox/linkage materials, torso module and two leg modules
self-machine / fabrication$2,358 subtotalBerkeley Humanoid ICRA 2025 paper Table III and reliability/low-cost design text
high
Onboard compute and battery setcommercially sourced for performance and safety
1Onboard computer (Intel i7-1255U) and two DJI TB50 batteries
commercial suppliers$653 subtotalBerkeley Humanoid ICRA 2025 paper Table III
high
IMU and EtherCAT control architectureIMU cost table row plus paper-described EtherCAT motor-driver/IMU network
1cellphone-level IMU with interface board, custom EtherCAT slaves for motor drivers and IMU, onboard EtherCAT master at 1-4 kHz
self-build / electronics suppliers$50 IMU subtotal; custom EtherCAT driver cost not separately itemizedBerkeley Humanoid ICRA 2025 paper system overview and Table III
high

Rows from the source's own parts list 4

ICRA2025_Berkeley_Humanoid.pdfpdf

Source rowQtyPrice and vendorLine
Berkeley Humanoid identity and source repository
berkeley-humanoid.comgithub.comno price listed
L2
Robot architecture, compute, power and EtherCAT electronics
two 6-DoF legs; one onboard PC; one IMU; two battery packs
hybrid-robotics.berkeley.educomponent costs grouped in Table III
L184
Custom actuator set
2x 5013; 6x 8513; 2x 8518; 2x 10413
hybrid-robotics.berkeley.edu$6,894 table subtotal
L190
Small-quantity production cost table
one assembled locomotion-focused robot without arms
hybrid-robotics.berkeley.edu$9,955 table total
L241

Berkeley Humanoid source files

6 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

Berkeley Humanoid in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

The 3D specimen on this page is converted from urdf/robot.urdf at d0d13d3.

Builds of Berkeley Humanoid

0 reviewed

No reviewed builds of Berkeley Humanoid yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to HybridRobotics/isaac_berkeley_humanoid: 2024-10-12 (checked 2026-10-01)

How this page was made

Assembled from public sources on 2026-06-08, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: paper table + source repos.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain Berkeley Humanoid? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 0/100

Markdown
[![Motari reproducibility score for Berkeley Humanoid](https://motari.io/api/v1/badge/berkeley-humanoid)](https://motari.io/r/berkeley-humanoid)
HTML
<a href="https://motari.io/r/berkeley-humanoid"><img src="https://motari.io/api/v1/badge/berkeley-humanoid" alt="Motari reproducibility score for Berkeley Humanoid" height="20"></a>

Not fully met yet: cad / mesh present, bom evidence, wiring diagram, firmware linked, build instructions, oshw-compatible license. The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed