How to build Berkeley Humanoid Lite
24-DoF humanoid robot · Expert
Build Berkeley Humanoid Lite: a 0.8 m, 24-DoF humanoid with 3D-printed cycloidal actuators, Isaac Lab training and sim-to-real code, about $4,300 in parts.
Research-grade: machining, motor drivers and control theory.
Our estimate, part-time
$4,312 in parts at US prices, per the project's BOM
CC-BY-SA-4.0
What is Berkeley Humanoid Lite?
Berkeley Humanoid Lite, from UC Berkeley's Hybrid Robotics lab, set out to make a research humanoid that costs less than $5,000 and can be built from parts sold online. It stands about 0.8 m and weighs roughly 16 kg.
The key idea is the actuator. Each joint is a self-contained module pairing a BLDC motor and a B-G431B-ESC1 driver with a fully 3D-printed cycloidal gearbox. Plastic gears might sound fragile, but the cycloidal shape spreads load across many teeth, and the paper reports they held up through testing.
The repo covers the whole pipeline: an Isaac Lab training environment, sim-to-sim and sim-to-real deployment, low-level code and URDF, MJCF and USD models. CAD and print files are published with the documentation releases.
Berkeley Humanoid Lite specifications
- Height / mass
- ≈0.8 m / ≈16 kg
- DoF
- 24 (12 legs, 10 arms, 2 grippers)
- Actuators
- 10× 6512 and 12× 5010 printed cycloidal modules
- Motor drivers
- B-G431B-ESC1 with Recoil firmware
- Bus
- CAN via USB-CAN adapters
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| 6512 actuator kit (M6C12 BLDC, ESC, encoder, printed gearbox) | 10 | $1,880 subtotal |
| 5010 actuator kit | 12 | $1,632 subtotal |
| Mini PC, 4× USB-CAN adapters, IMU, battery and power | — | $316 subtotal |
| Grippers, aluminium extrusion, printed structure and hardware | — | $484 subtotal |
Where's the full bill of materials?
The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat $4,312 as a ballpark from the project. Start at the project repository.
Tools you'll need
- FDM printer (PLA)
- USB-CAN adapter
- Soldering iron
- A GPU PC for Isaac Lab
Step-by-step build overview
Electronics & wiring overview
Joint drivers sit on several CAN buses, each reached through its own USB-CAN adapter from the onboard mini PC. Power comes from a LiPo pack.
Software
Isaac Lab environments, deployment scripts and low-level control code are MIT-licensed in the main repo; robot descriptions come in URDF, MJCF and USD.
Tips from the bench
- ☕ Calibrate each actuator on the bench; fixing a bad zero inside a finished leg is painful.
- ☕ Keep a few spare printed gearboxes ready to swap.
Berkeley Humanoid Lite FAQ
How much does Berkeley Humanoid Lite cost?
The BOM totals about $4,312 at US prices, under the team's $5,000 target.
Are the gearboxes really 3D-printed?
Yes. Every actuator uses a printed cycloidal reducer.
What simulator is used?
NVIDIA Isaac Lab for training, with MuJoCo models for sim-to-sim checks.
Sources
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
Related builds
Robot deals
All deals →
Get dealDeal · Everblog
10% off
ShopShop · CircuitMess
DIY robot kits
Robot and gadget kits you build yourself.
ShopShop · GRABO
Cordless vacuum lifter
GRABO Pro Brushless: the original cordless vacuum lifter for pavers, stone, glass and panels.
Like what we do? Buying through these links supports Bots n' Beans. We earn a commission at no extra cost to you. Thank you!