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, onboard Intel NUC compute, 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.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A primary assembly 3D asset is available from urdf/robot.urdf.
• Source-backed bill-of-materials evidence is linked with per-part provenance where available. Prices marked estimated are not yet verified against a vendor.
• A transparent reproducibility score so buildability is a sortable, first-class property.
• Cross-links to the source repo, datasets, models, and forks.

Source

Canonical source: HybridRobotics/isaac_berkeley_humanoid. Original files stay intact and separately licensed under BSD-3-Clause; Motari adds a separate, adjacent metadata layer.