UC Berkeley Hybrid Robotics Berkeley Humanoid Lite (1)

UC Berkeley Hybrid Robotics Berkeley Humanoid Lite (2)

UC Berkeley Hybrid Robotics Berkeley Humanoid Lite (3)

~$4,300 DIY BOMno kit or built unit sold; $3,236 with China-sourced parts

AvailableRL walkingNot smallDIY actuatorsIsaac Lab + MuJoCoNo kit

Weeks+Shipping: 4–8 wks DIY (est.). No kit sold. BLDC motors, ESCs and bearings mostly from China (~2–3 weeks), then heavy printing and building 22 actuators. Docs ↗

Project ↗GitHub ↗Docs ↗

Overview

Kid-sized and heavy enough to hurt itself, or its owner, when it falls. The interesting part is the printable cycloidal actuator, which is reusable elsewhere. Pick it only to learn actuator building and have $4k+ and a printer farm.

Specifications

Category	Bipeds · Open-source RL bipeds
Released	2025
Availability	Available
Programmability	Open source (hardware + software)
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	80 cm
Weight	16 kg
Compute	Intel N95 mini PC
Speed	Not published (~0.5 m/s est.)
DOF	22 BLDC with 3D-printed cycloidal gearboxes (CAN, 250 Hz)
Sensors	BNO085 IMU
Balance	RL locomotion trained in Isaac Lab with MuJoCo sim-to-sim checks, zero-shot transfer; push recovery not documented.
SDK	Berkeley-Humanoid-Lite repo (Isaac Lab tasks, MuJoCo sim2sim, CAN firmware), GitBook docs