Auto-assembled, not yet reviewed

Berkeley Humanoid Lite

Sub-$5k open-source humanoid with modular 3D-printed cycloidal gearboxes.

Reproducibility80/100Strong source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
Berkeley Humanoid Lite open-source 24-DoF humanoid robot, 3D render from berkeley_humanoid_lite.urdf
main assembly 3D · berkeley_humanoid_lite.urdf

About Berkeley Humanoid Lite

Berkeley Humanoid Lite is an open-source, sub-$5,000 humanoid robot built around modular, fully 3D-printed cycloidal gearbox actuators and widely available off-the-shelf parts. Standing roughly 0.8 m and weighing about 16 kg, it is designed to democratize humanoid robotics research. The repo ships the IsaacLab training environment, sim2sim/sim2real deployment code, low-level robot code, and robot descriptions (URDF, MJCF, USD) exported from an Onshape project; CAD and 3D-print files are published via the documentation releases.

Licenses

Hardware
CC-BY-SA-4.0
Software
MIT
Docs
Not published

Degrees of freedom

24 DoF arms 10legs 12grippers 2

Breakdown source

Humanoidsource

How to build Berkeley Humanoid Lite

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Get CAD and print files

    Download the latest CAD model and 3D-print files from the GitBook Releases page.

    Upstream stepberkeley-humanoid-lite.gitbook.io/docs/getting-started-with-...

  2. Print gearboxes and frame

    FDM-print the modular cycloidal gearboxes and all PLA structural parts.

    Motari summaryberkeley-humanoid-lite.gitbook.io/docs

  3. Assemble the actuators

    Build the self-contained actuators and bolt up the modular joints per the hardware docs.

    Motari summaryberkeley-humanoid-lite.gitbook.io/docs

  4. Wire and flash low-level

    Flash the Recoil motor controller firmware onto each B-G431B-ESC1, set each CAN ID per the joint ID mapping page, calibrate each actuator over a USB-CAN adapter, then wire the CAN buses and power per the wiring diagram and run the lowlevel code on the onboard computer.

    Motari summaryberkeley-humanoid-lite.gitbook.io/docs

  5. Train and deploy policy

    Use the IsaacLab environment for policy training, then sim2sim validate and deploy to hardware.

    Upstream stepberkeley-humanoid-lite.gitbook.io/docs/getting-started-with-...
Print timenot published
Assembly time"the entire robot can be assembled in about three days"

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

Berkeley Humanoid Lite bill of materials

4 rows

Cost to build

$4,312USDsource total
  • full humanoid incl. 22 actuators, 2 grippers, compute, battery (US prices)$4,312source 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 Lite parts, as the source lists them. Prices are the source's, not checked against vendors.

Berkeley Humanoid Lite bill of materials
PartQtySpecSourceConfidence
6512 actuator setlarge 3D-printed cycloidal actuators
10M6C12 BLDC motor, B-G431B-ESC1 driver, AS5600 encoder, bearings, fasteners, 3D printed parts, cables and connectors per Table I
online marketplaces / Digikey / Mouser$1,880 US totalDemonstrating Berkeley Humanoid Lite paper, Table I and Table III
high
5010 actuator setsmall 3D-printed cycloidal actuators
125010 BLDC motor, B-G431B-ESC1 driver, AS5600 encoder, bearings, fasteners, 3D printed parts, cables and connectors per Table II
online marketplaces / Digikey / Mouser$1,632 US totalDemonstrating Berkeley Humanoid Lite paper, Table II and Table III
high
Compute, IMU, power and CAN electronicscontroller, bus adapters, hub, sensing and battery
1Mini PC, USB-CAN adapters x4, USB hubs x2, BNO085 IMU, 6S LiPo battery
online marketplaces / electronics suppliers$316 US subtotalDemonstrating Berkeley Humanoid Lite paper, Table III
high
Structure, grippers and miscellaneous hardwareprinted and off-the-shelf robot body components
1grippers x2, aluminum extrusions, 3D printed components, miscellaneous structural components and miscellaneous electronic components
3D print yourself / online marketplaces$484 US subtotalDemonstrating Berkeley Humanoid Lite paper, Table III
high

Rows from the source's own parts list 3

demonstrating-berkeley-humanoid-lite.pdfpdf

Source rowQtyPrice and vendorLine
Berkeley Humanoid Lite source cost scope
lite.berkeley-humanoid.orgberkeley-humanoid-lite.gitbook.iounder $5,000 source-reported hardware cost
L18
6512 and 5010 actuator BOM tables
6512 actuators x10; 5010 actuators x12
lite.berkeley-humanoid.org$1,880 US + $1,632 US
L229
Robot-level BOM table
one assembled humanoid robot
lite.berkeley-humanoid.org$4,312 US table total
L318

Berkeley Humanoid Lite source files

10 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 Lite 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 data/robots/berkeley_humanoid/berkeley_humanoid_lite/urdf/berkeley_humanoid_lite.urdf at fc90fed.

Builds of Berkeley Humanoid Lite

0 reviewed

No reviewed builds of Berkeley Humanoid Lite 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/Berkeley-Humanoid-Lite: 2026-03-10 (checked 2026-10-01)

Related links

How this page was made

Assembled from public sources on 2026-06-04, 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 2bb0f690 + assets fc90fed.

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

Badge: reproducibility 80/100

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

Not fully met yet: bom evidence (partial). 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