Berkeley Humanoid Lite Docs
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  • 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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Releases

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Last updated 10 days ago

Latest Releases

Last update: 2025-04-10

CAD Models

Berkeley Humanoid Lite

6512 Actuator

5010 Actuator

3D Printing Project Files

Berkeley Humanoid Lite

Bambu Lab MakerWorld Link

6512 Actuator

Bambu Lab MakerWorld Link

5010 Actuator

Bambu Lab MakerWorld Link

Software Repositories

Main Project Repository

Robot Description Assets (URDF, MJCF, USD)

Low-level Control Code

Firmware

Onshape Link
Onshape Link
Onshape Link
https://github.com/HybridRobotics/Berkeley-Humanoid-Litegithub.com
https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Assetsgithub.com
https://github.com/HybridRobotics/Berkeley-Humanoid-Lite-Lowlevelgithub.com
LogoGitHub - T-K-233/Recoil-Motor-Controller-BESCGitHub