Berkeley Humanoid Lite Docs
  • Home
  • Releases
  • Getting Started with Hardware
    • Materials and Parts (BOM)
    • Preparing the Tools
    • 3D Printing Instructions
    • Building the Actuator
    • Flashing the Motor Controllers
    • Building the Robot
  • Getting Started with Software
    • Software Development Environment Overview
    • Training Environment
    • Sim2sim Validation
    • The On-board Computer
    • Motion Capture System
  • lerobot Integration
  • In-depth Contents
    • Field Oriented Control (FOC) Operation
    • Motor Controller Firmware Execution Timing Information
    • Motor Characterization
    • Actuator Characterization
    • CAN Communication
    • Joint ID Mapping
    • Exporting Robot Description Files from Onshape
    • Domain Randomizations for Training Locomotion
  • Contribute
Powered by GitBook
On this page

Home

NextReleases

Last updated 7 days ago

| arXiv | Paper | | |

Berkeley Humanoid Lite is an open-source, sub-$5,000 humanoid robot featuring modular 3D-printed gearboxes and widely available components, designed to democratize and advance humanoid robotics research.

This website contains documentation on helping you build your own version of the robot and setting up the corresponding software environment to perform locomotion and teleoperated manipulation on the robot.

During the development of the robot, we encountered numerous bugs and challenges. In the In-depth Contents section, we document our effort of understanding the system and the steps we took to resolve these problems. We hope this serves as a valuable resource for the community.

If you have any questions or comments, please reach out to us by either or joining our community!

Website
Video
Documentation
Code
creating a Github Issue