Відкритий код Гуманоїди
Berkeley Humanoid Lite
An open-source, mid-size humanoid from UC Berkeley’s Hybrid Robotics lab: 22 DoF, 3D-printed cycloidal actuators and off-the-shelf parts, for about US$4,350 in materials.
- Тип
- Гуманоїд
- DoF
- 22
- Висота
- 0,8 м
- Вага
- 16 кг
- Вартість BOM
- ≈ 4350,59 доларів США
- Структура
- друк PLA + екструзія алюмінію
- Відкрите апаратне забезпечення та відкритий код
- Повний опис матеріалів із посиланнями на постачальників
- Прямі посилання на оригінальну CAD, код і документи
01 — Деталі проєкту
Огляд, BOM і ресурси
Overview
Berkeley Humanoid Lite (BHL) comes from Koushil Sreenath’s group with one goal: a mid-size humanoid that people can actually afford and build. Its heart is a modular 3D-printed cycloidal actuator — motors, drivers and bearings are commodity parts, and housings and gearboxes print on a desktop printer.
Walking policies are trained with reinforcement learning in simulation and transfer zero-shot to the real robot. Hardware, embedded code, training and deployment frameworks are all open, plus VR teleoperation.
Key specifications
| Actuators | 10 × 6512 (MAD M6C12 150KV) + 12 × 5010 (MAD 5010 110KV), 3D-printed cycloidal reduction |
|---|---|
| Motor drivers | ST B-G431B-ESC1 per joint, AS5600 magnetic encoder |
| Bus | CAN 2.0 at 1 Mbps via 4 USB-CAN adapters |
| Computer / IMU | Intel N95 mini PC, BNO085 |
| Battery | 6S 4000 mAh LiPo |
| Actuator cost | 6512 ≈ $188, 5010 ≈ $136 (paper) |
Bill of materials
Total US$4,350.59 (official sheet; China sourcing ¥23,244.19). Actuator prices already include their parts; the per-actuator breakdown is in the collapsible table below and is not double-counted.
Download the BOM (.xlsx) · Official BOM ↗
| Part | Model / spec | Qty | Unit | Subtotal | Supplier |
|---|---|---|---|---|---|
| Humanoid | |||||
| Mini PC | 1 | $129.00 | $129.00 | amazon.com ↗ | |
| LiPo battery 6S | 1 | $70.20 | $70.20 | amazon.com ↗ | |
| USB-CAN adapter | 4 | $16.99 | $67.96 | amazon.com ↗ | |
| USB hub | 2 | $17.99 | $35.98 | amazon.com ↗ | |
| BNO085 | IMU sensor | 1 | $12.76 | $12.76 | amazon.com ↗ |
| Aluminum extrusion 250 mm | 2 | $4.25 | $8.50 | amazon.com ↗ | |
| Aluminum extrusion 200 mm | 4 | $3.75 | $15.00 | amazon.com ↗ | |
| Aluminum extrusion 150 mm | 2 | $3.00 | $6.00 | amazon.com ↗ | |
| Aluminum extrusion 100 mm | 3 | $3.25 | $9.75 | amazon.com ↗ | |
| Aluminum inner bracket | 24 | $0.65 | $15.60 | amazon.com ↗ | |
| 24V to 12V regulator | 1 | $16.99 | $16.99 | amazon.com ↗ | |
| 12V to 5V regulator | 1 | $4.49 | $4.49 | amazon.com ↗ | |
| Voltage monitor | 1 | $14.99 | $14.99 | amazon.com ↗ | |
| Current monitor | 1 | $20.98 | $20.98 | amazon.com ↗ | |
| Circuit breaker | 1 | $19.99 | $19.99 | amazon.com ↗ | |
| Misc | Fasteners | 1 | $40.00 | $40.00 | |
| Misc | Cables & connectors | 1 | $50.00 | $50.00 | |
| M6C12 actuators | 8 | $188.69 | $1,509.51 | ||
| 5010 actuators | 4 | $136.36 | $545.44 | ||
| 3D print filament | 1 | $100.00 | $100.00 | ||
| 6803-2RS | Bearing between the linkage on the pitch actuators on legs | 6 | $2.87 | $17.22 | amazon.com ↗ |
| M6C12 actuators | 2 | $188.69 | $377.38 | ||
| 5010 actuators | 8 | $136.36 | $1,090.87 | ||
| Servo motor claw | 2 | $35.99 | $71.98 | amazon.com ↗ | |
| 3D print filament | 1 | $100.00 | $100.00 | ||
| Total | $4,350.59 | ||||
Per-actuator breakdown and alternatives (not double-counted)
| Part | Model / spec | Qty | Unit | Subtotal | Supplier |
|---|---|---|---|---|---|
| M6C12 Actuator | |||||
| MR106-2RS | Bearing between input shaft and cycloidal disk, and between input shaft and output shaft | 13 | $0.87 | $11.31 | amazon.com ↗ |
| 6701-2RS | Bearing between cycloidal disk and output shaft | 2 | $0.94 | $1.88 | amazon.com ↗ |
| 6811ZZ | Bearing between output shaft and housing | 2 | $5.00 | $10.00 | amazon.com ↗ |
| M3 x 55 mm | Mounting housing | 8 | $0.26 | $2.08 | amazon.com ↗ |
| M3 x 30 mm | Mounting output shaft | 6 | $0.19 | $1.14 | amazon.com ↗ |
| M2 x 3 x 3.5 mm | M2 threaded insert for mounting encoder | 4 | $0.07 | $0.28 | amazon.com ↗ |
| M3 x 4 x 5 mm insert | M3 threaded insert | 24 | $0.08 | $1.92 | amazon.com ↗ |
| M4 x 15 mm hex stand | input shaft stiffener | 1 | $0.69 | $0.69 | amazon.com ↗ |
| MAD Components M6C12 150KV | 1 | $129.00 | $129.00 | amazon.com ↗ | |
| PLA | 3D print filament, in kg | 0.12 | $25.99 | $3.12 | amazon.com ↗ |
| B-G431B-ESC1 | Motor controller | 1 | $18.97 | $18.97 | digikey.com ↗ |
| AS5600 | I2C position encoder | 1 | $3.30 | $3.30 | amazon.com ↗ |
| Misc | Cables & connectors | 1 | $5.00 | $5.00 | |
| 5010 Actuator | |||||
| MR106-2RS | Bearing between input shaft and cycloidal disk, and between input shaft and output shaft | 13 | $0.87 | $11.31 | amazon.com ↗ |
| 6701-2RS | Bearing between cycloidal disk and output shaft | 2 | $0.94 | $1.88 | amazon.com ↗ |
| 6809ZZ | Bearing between output shaft and housing | 2 | $2.26 | $4.52 | amazon.com ↗ |
| M3 x 55 mm | Mounting housing | 4 | $0.26 | $1.04 | amazon.com ↗ |
| M3 x 25 mm | Mounting output shaft | 6 | $0.19 | $1.14 | amazon.com ↗ |
| M2 x 3 x 3.5 mm | M2 threaded insert for mounting encoder | 4 | $0.07 | $0.28 | amazon.com ↗ |
| M3 x 4 x 5 mm insert | M3 threaded insert | 24 | $0.08 | $1.92 | amazon.com ↗ |
| M4 x 12 mm hex stand | input shaft stiffener | 1 | $0.40 | $0.40 | amazon.com ↗ |
| MAD Components 5010 110KV | 1 | $84.00 | $84.00 | amazon.com ↗ | |
| PLA | 3D print filament, in kg | 0.1 | $25.99 | $2.60 | amazon.com ↗ |
| B-G431B-ESC1 | Motor controller | 1 | $18.97 | $18.97 | digikey.com ↗ |
| AS5600 | I2C position encoder | 1 | $3.30 | $3.30 | amazon.com ↗ |
| Misc | Cables & connectors | 1 | $5.00 | $5.00 | |
| Humanoid | |||||
| IM10A | Alternative IMU sensor, easier to wire | 1 | $89.99 | $89.99 | hiwonder.com ↗ |
| Total | $4,350.59 | ||||
3D printing & fabrication
- Standard PLA (e.g. Bambu PLA Basic); about 0.12 kg per 6512 actuator and 0.10 kg per 5010.
- Settings are tuned for a Bambu Lab X1C with two profiles — actuator housing and actuator shaft; other structural parts can print faster, mirrored along X for left/right.
- Brass hex standoffs stiffen the input shaft and M3×55 through-bolts prevent layer splitting; the torso uses aluminium extrusion.
- Sliced .3mf projects are on Bambu MakerWorld (sign-in required).
CAD, code & papers
Get the large files — CAD, STL, STEP and code — straight from the original project:
- Project website ↗lite.berkeley-humanoid.org
- GitHub (main) ↗github.com
- Robot description (URDF / MJCF / USD) ↗github.com
- Low-level control code ↗github.com
- Motor controller firmware ↗github.com
- Full-robot CAD (Onshape) ↗cad.onshape.com
- 3D print files (MakerWorld) ↗makerworld.com
- Documentation (GitBook) ↗berkeley-humanoid-lite.gitbook.io
- Paper arXiv:2504.17249 ↗arxiv.org
- Official BOM (Google Sheets) ↗docs.google.com
- Demo video ↗youtube.com
License
Code MIT; CAD, docs and other assets CC BY-SA 4.0.
Image credits
- Image 1: Berkeley Humanoid Lite Project (UC Berkeley Hybrid Robotics) · CC BY-SA 4.0 — source ↗
- Image 2: Berkeley Humanoid Lite Project (UC Berkeley Hybrid Robotics) · © paper authors — source ↗
- Image 3: Berkeley Humanoid Lite Project (UC Berkeley Hybrid Robotics) · CC BY-SA 4.0 — source ↗
- Image 4: Berkeley Humanoid Lite Project (UC Berkeley Hybrid Robotics) · CC BY-SA 4.0 — source ↗
- Image 5: Berkeley Humanoid Lite Project (UC Berkeley Hybrid Robotics) · © paper authors — source ↗
- Image 6: Berkeley Humanoid Lite Project (UC Berkeley Hybrid Robotics) · © paper authors — source ↗
- Image 7: Berkeley Humanoid Lite Project (UC Berkeley Hybrid Robotics) · © paper authors — source ↗
Джерело: Images and data: UC Berkeley Hybrid Robotics (Berkeley Humanoid Lite website, GitHub and RSS 2025 paper). Code MIT, other assets CC BY-SA 4.0. This site is not affiliated with the original project.
Отримати деталі
Де взяти запчастини
Кожен рядок у специфікації посилається на постачальника, якого використовувала початкова команда. Потрібна допомога в пошуку деталей або 3D-друку конструкції? Розкажіть, якого робота ви створюєте.
02 — Схожі роботи
