Closed hardware

Berkeley Humanoid

Name: Berkeley Humanoid
Brand: UC Berkeley Hybrid Robotics Lab

UC Berkeley Hybrid Robotics Lab · Biped · research · 2024

Low-cost mid-scale research biped for learning-based control, 0.85 m and 16 kg with 12 leg DOF driven by in-house actuators.

L2Sim-verifiedGate: Loads in browser and GPU sim, mass within tolerance of the BOM, holds a stand. Unlocks .training.

One way to get Berkeley Humanoid

Compare all →

1Build Berkeley Humanoid Lite instead$4,204 BOMNearest open robot · 80 cm · 16 kg

Fig 1/4Render/berkeley/humanoid Berkeley Humanoid studio render, three-quarter front view

Studio render of the published MJCF, keyframe pose from the model. Geometry only; colours are the model's own materials.© Rendered by Hyperspawn from mujoco_menagerie/berkeley_humanoid (BSD-3-Clause) · Hyperspawn render · source

Drawing: /berkeley/humanoid
Maker: UC Berkeley Hybrid Robotics Lab
Country: Berkeley, US
Package rev: none
Level: L2 Sim-verified
Availability: Research only
Openness: 30/100
HW licence: unknown
Last checked: 2026-09-24
Height: 85 cm
Mass: 16 kg
DOF: 12
Actuators: custom 5013/8513/8518/10413 motors, 9:1 planetary, EtherCAT

Batteries: two DJI TB50. 4-DOF arms designed but not built in the paper. Open hardware successor is Berkeley Humanoid Lite. isaac_berkeley_humanoid's LICENCE is BSD-3-Clause (GitHub reports NOASSERTION); berkeley_humanoid_description has no license file.

Build · not possible

Build it. Buy it, or build something like it.

Closed hardware; no public CAD or BOM.

Availability: Research only
Indicative price: Not for sale
Price note: ~$10,000 build cost without arms (paper); not sold

Its sim model is open: train it →

Open robots of similar size you can build

Nearest by height and mass where both are known; otherwise same class. Size comparison only, not capability.

GATE

Level gate

Holds L2 · evidence, not confidence

L0
Indexed
Known to exist. Atlas page only.
- 3 sources on record(met)
held
L1
Compiled
Package validates against the spec; every fact has a source.
- No build package compiled(not met)
- 3 sources across robot and package(met)
held
L2
Sim-verified
Loads in browser and GPU sim, mass within tolerance of the BOM, holds a stand. Unlocks .training.
- URDF/MJCF is public(met)
- Sim load, mass tolerance and stand are checked on .training(checked elsewhere)
held
L3
Sourced
Every BOM line resolves to a live offer in at least two regions. Unlocks the one-click cart.
- Not reachable: no open hardware to source or build.
next
L4
Built
At least one community build report with photos and bring-up logs. Unlocks Build it as the main action.
- Not reachable: no open hardware to source or build.
locked
L5
Certified
The robot's maintainer signs the package. Unlocks certified teams and kit sales.
- Not reachable: no open hardware to source or build.
locked

Levels are cumulative and set by the registry from reviewed evidence. This panel shows what can be measured from the package today.

Same robot, other verbs

Know ithumanoidrobots.systems/berkeley/humanoid
Build ithumanoidrobot.buildClosed hardware; no public CAD or BOM.
Train ithumanoidrobots.training/berkeley/humanoid
Find its crewhumanoidrobots.teamNot sold to individuals or labs.
See it on the maphumanoidrobots.earthNo public units to map.

REV

Revisions and sources

Every fact on this sheet traces to one of these

Rev	Description	Checked
PKG	No build package compiled	—
S1	arXiv paperarxiv.org	2026-09-24
S2	Project siteberkeley-humanoid.com	2026-09-24
S3	MuJoCo Menageriegithub.com	2026-09-24