UC Berkeley Berkeley Humanoid specs

UC Berkeley Hybrid Robotics Berkeley Humanoid (1)

UC Berkeley Hybrid Robotics Berkeley Humanoid (2)

Not for saleLab platform. The paper lists about $10,000 in parts (legs only). The later Berkeley Humanoid Lite is open source

Not for sale (research)RL walkingLearning-first designHops on one legLab only

Not for saleShipping: Not for sale. Lab-only platform. Berkeley Humanoid Lite is the buildable open-source successor.

Project page ↗arXiv ↗

Overview

A mid-size, low-cost research humanoid designed around learning-based control, published in July 2024. The team showed robust walking, single- and double-leg hopping and outdoor terrain with simple RL policies. It led directly to the open-source Berkeley Humanoid Lite.

Specifications

Category	Bipeds · Research & legacy bipeds
Released	2024
Country	USA
Availability	Not for sale (research)
Programmability	No programmability
Built-in autonomy	None / scripted · Moves only when controlled, or plays preset motions
Best for	Professionals & labs
Vision sensors	No vision sensors
Actuators	Brushless / direct-drive motors
Audio	No audio
Compute type	x86 PC (Intel / AMD)
Balance type	RL walking
Height	0.85 m
Weight	16 kg (legs-only configuration)
Compute	Onboard PC running an EtherCAT master
Speed	Not published
DOF	12 (legs)
Sensors	IMU, joint encoders
Balance	Simple RL policies with light domain randomization transfer zero-shot to hardware. Walks, hops and handles uneven ground and grass.
SDK	None public