Sumber terbuka Humanoid
Berkeley Humanoid Lite
Humanoid berukuran sedang bersumber terbuka dari lab Hybrid Robotics UC Berkeley: 22 DoF, aktuator sikloidal cetak 3D, dan suku cadang siap pakai, dengan harga material sekitar US$4.350.
- Tipe
- Humanoid
- DoF
- 22
- Tinggi
- 0,8 m
- Berat
- 16kg
- Biaya BOM
- ≈ US$4.350,59
- Struktur
- Cetakan PLA + ekstrusi aluminium
- Buka perangkat keras dan buka kode
- Bill of material lengkap dengan tautan pemasok
- Tautan langsung ke CAD, kode, dan kertas asli
01 — Detail proyek
Ikhtisar, BOM, dan sumber daya
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 ↗
Sumber: Gambar dan data: UC Berkeley Hybrid Robotics (situs web Berkeley Humanoid Lite, makalah GitHub dan RSS 2025). Kode MIT, aset lainnya CC BY-SA 4.0. Situs ini tidak berafiliasi dengan proyek aslinya.
Dapatkan suku cadang
Di mana mendapatkan suku cadangnya
Setiap baris di BOM tertaut ke pemasok yang digunakan tim asli. Butuh bantuan untuk mencari suku cadang atau mencetak strukturnya dengan pencetakan 3D? Beri tahu kami robot mana yang sedang Anda buat.
02 — Robot terkait
Lebih banyak robot sumber terbuka
Bangun bersama kami