Berkeley Humanoid Lite Docs
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    • Materials and Parts (BOM)
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    • 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 2 days ago

Releases Notes

Last update: 2025-06-09

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.

Bill Of Materials (BOM)

CAD Models

Berkeley Humanoid Lite

6512 Actuator

5010 Actuator

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

Materials and Parts (BOM)
Onshape Link
Onshape Link
Onshape Link
Bambu Lab MakerWorld Link
Bambu Lab MakerWorld Link
Bambu Lab MakerWorld 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
GitHub - T-K-233/Recoil-Motor-Controller-BESCGitHub
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