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HumanoidUC Berkeley Hybrid Robotics Lab2025US

Berkeley Humanoid Lite

Open-source sub-$5,000 humanoid built from desktop-3D-printed cycloidal gearboxes and off-the-shelf parts; 0.8 m, 16 kg, 22 DOF.

researchDIYL2 Sim-verifiedbuildable

Difficulty index

10.8/13
10.8
Index breakdown
Classhumanoid+5
Cost$4,204 BOM+1.6
DOF22 DOF+2.2
Parts1451 parts+2
How the index works

Top of the ladder. This robot lives on the humanoid domains.

Specimen photographs

4 items
  • Berkeley Humanoid Lite studio render, three-quarter front view
    Studio render of the published URDF, the model's zero pose. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from HybridRobotics/berkeley-humanoid-lite-assets (CC-BY-SA-4.0) · Hyperspawn render · source
  • Berkeley Humanoid Lite studio render, side view
    Side view of the same URDF render, the model's zero pose.Rendered by Hyperspawn from HybridRobotics/berkeley-humanoid-lite-assets (CC-BY-SA-4.0) · Hyperspawn render · source
  • 4 s turntable of the URDF studio render.Rendered by Hyperspawn from HybridRobotics/berkeley-humanoid-lite-assets (CC-BY-SA-4.0) · Hyperspawn render · source
  • Berkeley Humanoid Lite: An Open source, Accessible, and Customizable 3D printed Humanoid Robot.Hybrid Robotics · official video, embedded · source

Spec card

6/13 known
Degrees of freedom
22
Height
80 cm
Mass
16 kg
BOM total
$4,204 · 37/37 lines priced
Part count
1451
Actuators
BLDC motors with 3D-printed cycloidal gearboxes

Not in the registry: payload, speed, runtime, battery, price, compute, sensors. Left blank rather than guessed.

What you learn building it

  • +Whole-body control
  • +Dozens of actuators on one bus
  • +Balance and fall handling
  • +Safe bring-up of a full-size machine
  • +FDM 3D printing: 30 parts
  • +Tools used: FDM printer >=200x200x200 mm (Bambu X1C or Ender-3 V3 SE tested), soldering iron, flux, hot glue gun, soldering iron with heat-insert tip, heat insert stand, hex keys M2-M6, STM32CubeIDE +3
  • +14 assembly steps across 7 subassemblies
  • +Flashing firmware for STM32G431 on ST B-G431B-ESC1 (x22)
  • +Testing in simulation (URDF/MJCF) before touching hardware
  • +Running published learned policies

Openness

100/100
  • publicCAD
  • publicBOM
  • publicFirmware
  • publicSim model
  • publicSoftware
  • publicPolicies

Score 100/100 computed from what is public: CAD 25, BOM 20, sim 20, firmware 15, software 10, policies 10. Hardware license: CC-BY-SA-4.0. Software license: MIT.

Repos & models

URDF ↗MJCF ↗
SiteDocsVideo

Build it

Has an ORP build package.
Build it on humanoidrobot.build ↗

Simulate

Load it in the browser simulator and train a policy before building.

Open on humanoidrobots.training ↗

Next rung

None. This is the top. Find people building it on humanoidrobots.team.

This is the top of the ladder.

Note6 DOF per leg, 5 DOF per arm. Paper arXiv:2504.17249. L2 on the same basis as other maker-published MJCF + policy packages: MJCF in berkeley-humanoid-lite-assets, ONNX policies in the main repo's checkpoints/.

Sources

  1. [1]Official repochecked 2026-09-24
  2. [2]arXiv paperchecked 2026-09-24
  3. [3]3D Printing Industrychecked 2026-09-24