Releases
Bill Of Materials (BOM)
Materials and Parts (BOM)CAD Models
Berkeley Humanoid Lite
6512 Actuator
5010 Actuator
USB-CAN Adapter Case
3D Printing Project Files
Berkeley Humanoid Lite
6512 Actuator
5010 Actuator
Software Repositories
Main Project Repository
Robot Description Assets (URDF, MJCF, USD)
Low-level Control Code
Firmware
Windows SteamVR Code for Teleoperation
Release Log
2025-09-07 Fix missing Python locomotion instruction.
2025-09-03 Update robot description file generation instructions.
2025-08-23 Fix 3D print file on MakeWorld, replacing the wrong 5010-5010 housing part and add the missing limit stopper part; add instruction on mounting the magnet on motor shaft; update instruction for 3D printing.
2025-07-07 Fix motor calibration procedure description, add note for rotation direction.
2025-07-05 Add video instruction on ESC firmware configuration, motor calibration, and a demo code driving a single motor.
2025-06-28 Add more wiring instructions, IMU upgrade, and teleoperation instructions; add USB-CAN Adapter Onshape link.
2025-06-26 Add teleoperation code.
2025-06-13 Add instructions to set up environment with uv.
2025-06-09 Add robot wiring diagram, add instructions on connecting cables.
2025-05-29 Add missing 6803 bearing and M2 insert in the humanoid tab in BOM, update M4 hex standoff links.
2025-05-23 Fix incorrect bearing description in BOM (swapped MR106-2RS and 6701-2RS).
2025-05-21 Fix MakerWorld .3mf files of the 6512 actuator.
2025-04-28 Initial release.
Last updated