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HumanoidUC Berkeley Hybrid Robotics Lab2024US

Berkeley Humanoid

Low-cost mid-scale research biped for learning-based control, 0.85 m and 16 kg with 12 leg DOF driven by in-house actuators.

researchResearch onlyL2 Sim-verifiednot buildable

Difficulty index

8.7/13
8.7
Index breakdown
Classhumanoid+5
Costunknown · midpoint+1.5
DOF12 DOF+1.2
Partsunknown · midpoint+1
How the index works

Top of the ladder. This robot lives on the humanoid domains.

Specimen photographs

4 items
  • Berkeley Humanoid studio render, three-quarter front view
    Studio render of the published MJCF, keyframe pose from the model. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from mujoco_menagerie/berkeley_humanoid (BSD-3-Clause) · Hyperspawn render · source
  • Berkeley Humanoid studio render, side view
    Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from mujoco_menagerie/berkeley_humanoid (BSD-3-Clause) · Hyperspawn render · source
  • 4 s turntable of the MJCF studio render.Rendered by Hyperspawn from mujoco_menagerie/berkeley_humanoid (BSD-3-Clause) · Hyperspawn render · source
  • Berkeley Humanoid: A Research Platform for Learning-based ControlHybrid Robotics · official video, embedded · source

Spec card

7/13 known
Degrees of freedom
12
Height
85 cm
Mass
16 kg
Price
not for sale
Actuators
custom 5013/8513/8518/10413 motors, 9:1 planetary, EtherCAT
Compute
Intel i7-1255U onboard PC
Sensors
IMU, joint encoders

Not in the registry: payload, speed, runtime, battery, bom total, part count. Left blank rather than guessed.

What you learn building it

  • +Whole-body control
  • +Dozens of actuators on one bus
  • +Balance and fall handling
  • +Safe bring-up of a full-size machine
  • +Testing in simulation (URDF/MJCF) before touching hardware

Openness

30/100
  • not publicCAD
  • not publicBOM
  • not publicFirmware
  • publicSim model
  • publicSoftware
  • not publicPolicies

Score 30/100 computed from what is public: CAD 25, BOM 20, sim 20, firmware 15, software 10, policies 10. Software license: BSD-3-Clause.

Repos & models

URDF ↗MJCF ↗MuJoCo Menagerie ↗
Site

Build it

Closed hardware; no public CAD or BOM.

humanoidrobot.build/berkeley/humanoid · Closed hardware; no public CAD or BOM.

Simulate

Load it in the browser simulator and train a policy before building.

Open on humanoidrobots.training ↗

Next rung

None. This is the top. Find people building it on humanoidrobots.team.

This is the top of the ladder.

NoteBatteries: two DJI TB50. 4-DOF arms designed but not built in the paper. Open hardware successor is Berkeley Humanoid Lite. isaac_berkeley_humanoid's LICENCE is BSD-3-Clause (GitHub reports NOASSERTION); berkeley_humanoid_description has no license file.

Sources

  1. [1]arXiv paperchecked 2026-09-24
  2. [2]Project sitechecked 2026-09-24
  3. [3]MuJoCo Menageriechecked 2026-09-24