Humanoid (open source) · 2025
Berkeley Humanoid Lite
A full humanoid designed explicitly to be built by anyone with a 3D printer and a credit card. Printed cycloidal reducers, off-the-shelf BLDCs, and every CAD file published.
$5k
UC Berkeley (open)
~20+ DOF
Open source
Why it matters
The single best reference design for learning humanoid mechanics. You can print every structural part and see exactly why each decision was made.
Where it falls short
Printed reducers limit torque and life. It walks; it does not do useful work yet.
Read this if you plan to copy itThe parts below are the same classes of component at this platform scale — they are not the exact vendor parts. Use them to understand the architecture and to price a home-built equivalent.
What it is made of
| Subsystem | Comparable part | Price | Primary spec |
|---|---|---|---|
| Transmission | Printed cycloidal reducer | $5 | 20:1 – 40:1 (by design) |
| Actuators | ODrive S1 | $149 | 40 A |
| Sensors | AS5047P magnetic encoder | $10 | 14-bit (16384 counts/rev) |
| Compute | Jetson Orin Nano Super | $249 | 67 TOPS (INT8, sparse) |
Software you would touch
Python · MuJoCo · custom firmware