humanoidrobots.systems

berkeley/humanoid · spec sheet

UC Berkeley Humanoid specs

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.

Maker
UC Berkeley Hybrid Robotics Lab
Class
Biped
Status
Research
Availability
Research only
Country
United States, Berkeley
Level
L2 Sim-verified
01

Media

3 items · credited and licensed
Berkeley Humanoid studio render, three-quarter front viewrender
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)license: Hyperspawn rendergithub.com
Berkeley Humanoid studio render, side viewrender
Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from mujoco_menagerie/berkeley_humanoid (BSD-3-Clause)license: Hyperspawn rendergithub.com
4 s turntable of the MJCF studio render.Rendered by Hyperspawn from mujoco_menagerie/berkeley_humanoid (BSD-3-Clause)license: Hyperspawn rendergithub.com
02

Specifications

8/12 fields sourced
UC Berkeley Humanoid specifications
Heightspecs.heightCm85cm
Massspecs.massKg16kg
Degrees of freedomspecs.dof12
Payloadspecs.payloadKgunsourced
Top speedspecs.speedMpsunsourced
Runtimespecs.runtimeMinunsourced
Battery capacityspecs.batteryWhunsourced
Pricespecs.priceUsdNot for sale~$10,000 build cost without arms (paper); not sold
Actuatorsspecs.actuatorscustom 5013/8513/8518/10413 motors, 9:1 planetary, EtherCAT
Computespecs.computeIntel i7-1255U onboard PC
Sensorsspecs.sensorsIMU, joint encoders
Year introducedyear2024
Licenselicense.hw / .sw / .docsSoftware: BSD-3-Clause

Note · 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.

03

Openness

method
30 / 100Partly open
ArtifactPublicWeightPoints
CADopenness.cadno250
Bill of materialsopenness.bomno200
Sim model (URDF/MJCF)openness.simyes2020
Firmwareopenness.firmwareno150
Softwareopenness.softwareyes1010
Trained policiesopenness.policiesno100
score = Σ weight × public30
04

Models, repositories, links

6 links
05

Videos

1 tagged · 0 from the maker's channel
Berkeley Humanoid: A Research Platform for Learning-based ControlHybrid RoboticsOfficial embedyoutube.comUC Berkeley Hybrid Robotics LabUC Berkeley Humanoid
06

News and papers

0 stories · 0 papers

News mentioning Berkeley Humanoid

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Papers using Berkeley Humanoid

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07

Sources

last checked 2026-09-24
  1. [1]arXiv paperarxiv.org/abs/2407.21781checked 2026-09-24
  2. [2]Project siteberkeley-humanoid.com/checked 2026-09-24
  3. [3]MuJoCo Menageriegithub.com/google-deepmind/mujoco_menagerie/tree/main/berkeley_humanoidchecked 2026-09-24
08

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10

Cite this page

humanoidrobots.systems. “UC Berkeley Humanoid specs.” Hyperspawn, data revision 2026-10-08. https://humanoidrobots.systems/berkeley/humanoid

Machine-readable: /data.json (record berkeley/humanoid).