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
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In-depth Contents

During our four-year journey of building the Berkeley Humanoid Robot, we’ve encountered countless challenges—frustrating bugs, unexpected setbacks, and moments of doubt.

While many great resources already exist, we felt compelled to document our learnings and discoveries here, hoping they might serve as a meaningful contribution to the robot DIY community.

We sincerely wish you never have to battle the same stubborn issues we faced, while working on Berkeley Humanoid Lite and other projects. But if you do, may this guide save you time, ease your frustrations, and remind you that every challenge conquered brings you one step closer to creating something extraordinary.

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Last updated 1 month ago