Berkeley Humanoid Lite

Robot / hardware build

A humanoid built around printed gearboxes, with separate simulation assets and low-level control code that requires joint calibration after power cycles. [1]

Build & first use →Parts & prices Official website Upstream build guide Bill of materials

For: Experienced robot builders; Learning-based control researchers [1]
Cost: USD 3,349.90 Berkeley Humanoid Lite, full robot (10 M6C12 + 12 5010 actuators)Known parts subtotals, US · prices checked Oct 4, 2026 · Parts and pricesNot included: AS5600 magnetic encoder module, MAD Components 5010 EEE 110KV V2.0 brushless motor, 6S LiPo battery, 5000 mAh, EC5 (Zeee, 2-pack listing), host computer able to run LeRobot, BNO085 IMU module (as linked by the sheet), 2020 inner corner bracket with screws, FDM 3D printer (220 x 220 mm bed or larger) and shipping and tax.
Source rights: Some licenses are unresolved. Review licenses

Source researched · Not tested by us
Sources checked Sep 30, 2026 · Research details

Licenses & related hardware

License: CC-BY-SA-4.0, MIT · license not fully assessed for firmware, model weights, documentation · Details by part

Requirements · Research details and dates

Overview

Berkeley Humanoid Lite uses modular printed gearboxes for humanoid research. Building it involves actuator assembly as well as printing a robot frame. The hardware guide specifies a printer with at least a 200 mm cube build volume, soldering equipment, heat-insert tooling, a glue gun for motor-shaft magnets and hand tools. The README's sub-$5,000 description is an upstream headline, not a current delivered quote for parts, tools and compute. [1] [6] [7]

Is this for you?

Known limitations: Separate print profiles, firmware and full BOM must be matched
Published cost headline is not a current delivered complete setup quote
Joint calibration and CAN setup add recurring operating work
[1] [5] [6] [7] [8] [9] [10]

3D preview

Left hand link — simulation visual mesh. One left-hand link visual mesh from the robot-description assets. It is not a manufacturing pack or a complete humanoid.

The 3D preview loads after the page.

Drag to orbit · Scroll or pinch to zoom · Right-drag to pan. Use the view buttons for front, side and top views. The tree shows names supplied by the source; unnamed bodies remain labeled as such.

Download original STL · File checksums and provenance

This model contains one geometric body.

Model sources

The preview uses the linked original design. Source grouping is retained where present; the caption identifies whether this is an assembly or one component.

Source, license and scale

Source: Berkeley Humanoid Lite contributors, revision fc90fedd008b1e56a22e3c5221548d6b24f49707. Original and preview: CC-BY-SA-4.0. Preview conversion by Open Source Robotics; original file unchanged. Preview coordinates are centered and rounded to six decimal places. STL does not declare units; confirm dimensions against the project design. No physical part tested.

Viewer: three-cad-viewer 5.0.7 (MIT license). Confirm scale and manufacturing settings before printing.

What you need

Operating system

Ubuntu 22.04 documented for onboard computer

[1] [5] [6] [7] [8] [9] [10]

Host computer

Onboard NUC computer; training/simulation environment is separate

[1] [5] [6] [7] [8] [9] [10]

Dependencies

Main workspace plus robot-assets and low-level-control submodules
Motor-controller firmware is a separate linked project

[1] [5] [6] [7] [8] [9] [10]

Tools

Desktop 3D printer with at least 200 × 200 × 200 mm build volume
Soldering iron and heat-insert tooling
Glue gun, hex tools and screwdrivers

[1] [5] [6] [7] [8] [9] [10]

Hardware & parts

Open the parts list with US prices for 1 configuration.

Upstream bill of materials [1] [5] [6] [7] [8] [9] [10]

Hardware configuration

Printed-gearbox humanoid

[1] [5] [6] [7] [8] [9] [10]

Assembly & first use

Open the upstream getting-started guide [1] [5] [6] [7] [8] [9] [10] · Project documentation [1] [5] [6] [7] [8] [9] [10]

Calibration

Pinned low-level README requires joint zero calibration after each power cycle; not performed here.

[1] [5] [6] [7] [8] [9] [10]

Cost & sourcing

US delivery · USD · Configuration-specific parts estimates

Build configuration

Assemble and power the robot and run the low-level actuator and control software

Known parts subtotal · additional costs unresolved

USD 3,349.90

Prices dated Oct 4, 2026.

Baseline: nothing owned

BOM coverage & pricing basis

BOM coverage: partial · Pricing coverage: 27/34 procurement groups · First-task budget: incomplete

Sheet reconciled line by line (per-actuator recipes x actuator counts). Not complete: 3D-printed parts and filament (print files on MakerWorld/Onshape, not pinned here), and the sheet's unitemised "Misc" fasteners (USD 40), cables and connectors (USD 50) and USD 5 per actuator are not mapped; the IM10A alternative IMU is excluded.

Known required subtotal across all layers: USD 3,349.90. Unpriced: AS5600 magnetic encoder module, MAD Components 5010 EEE 110KV V2.0 brushless motor, 6S LiPo battery, 5000 mAh, EC5 (Zeee, 2-pack listing), Host computer able to run LeRobot, BNO085 IMU module (as linked by the sheet), 2020 inner corner bracket with screws, FDM 3D printer (220 x 220 mm bed or larger), Shipping and tax.

Cost layers & unpriced requirements

Cost layers

Layer	Known expenditure	Unpriced requirements
Purchased parts	USD 3,227.48	AS5600 magnetic encoder module, MAD Components 5010 EEE 110KV V2.0 brushless motor, BNO085 IMU module (as linked by the sheet), 2020 inner corner bracket with screws
Printed parts: material purchase	No requirements recorded	—
Fabricated parts	No requirements recorded	—
Power & cabling	USD 122.42	6S LiPo battery, 5000 mAh, EC5 (Zeee, 2-pack listing)
Host computer	Unpriced	Host computer able to run LeRobot
Sensors & cameras	No requirements recorded	—
Tools	Unpriced	FDM 3D printer (220 x 220 mm bed or larger)
Shipping & tax	Unpriced	Shipping and tax

Parts & sourcing

Purchases combine repeated requirements before rounding to supplier packs. Shared purchases appear once. Printed material consumption and whole-spool purchase costs are different. Under “Other offers & price history”, historical observations may be excluded from today's subtotal. Broken or unavailable listings do not count.

Part / requirement	Quantity & ownership	Lowest eligible purchase
6701-2RS ball bearing, 12 x 18 x 4 mmRequired · Purchased parts	44 each	USD 46.50 Amadeo City5 pack(s) × 10 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources uxcell 6701-2RS Deep Groove Ball Bearings Z2 12mm x 18mm x 4mm Double Sealed Chrome Steel 10pcs Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history Amadeo CityUSD 9.30 / 10 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: Amadeo City; availability: In Stock; variants: 12x18x4mm.uxcell 6701-2RS Deep Groove Ball Bearings Z2 12mm x 18mm x 4mm Double Sealed Chrome Steel 10pcs
6809ZZ ball bearing, 45 x 58 x 7 mmRequired · Purchased parts	24 each	USD 71.37 uxcell3 pack(s) × 10 each; minimum 1 pack(s) · unknownChecked by us · Oct 4, 2026 Price sources uxcell 6809ZZ Deep Groove Ball Bearings Z2 45x58x7mm Chrome Steel 10pcs Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history uxcellUSD 23.79 / 10 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · unknown, link working.Buy box read on 2026-10-04; seller: uxcell; availability: not shown; variants: 45x58x7mm.uxcell 6809ZZ Deep Groove Ball Bearings Z2 45x58x7mm Chrome Steel 10pcs
6811ZZ ball bearing, 55 x 72 x 9 mmRequired · Purchased parts	20 each	USD 99.90 uxcell10 pack(s) × 2 each; minimum 1 pack(s) · lowChecked by us · Oct 4, 2026 Price sources uxcell 6811ZZ Deep Groove Ball Bearings 55mm Inner Dia 72mm OD 9mm Bore Double Shielded Chrome Steel Z2 2pcs Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history uxcellUSD 9.99 / 2 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · low, link working.Buy box read on 2026-10-04; seller: uxcell; availability: Only 1 left in stock - order soon.; variants: 55x72x9mm.uxcell 6811ZZ Deep Groove Ball Bearings 55mm Inner Dia 72mm OD 9mm Bore Double Shielded Chrome Steel Z2 2pcs
MR106-2RS ball bearing, 6 x 10 x 3 mmRequired · Purchased parts	286 each	USD 249.11 uxcell29 pack(s) × 10 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources uxcell MR106-2RS Deep Groove Ball Bearings 6mm Inner Dia 10mm OD 3mm Bore Double Sealed Chrome Steel Z2 10pcs Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history uxcellUSD 8.59 / 10 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: uxcell; availability: In Stock; variants: 6mmx10mmx3mm.uxcell MR106-2RS Deep Groove Ball Bearings 6mm Inner Dia 10mm OD 3mm Bore Double Sealed Chrome Steel Z2 10pcs
AS5600 magnetic encoder moduleRequired · Purchased parts	22 each	Unpriced Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history Amazon.com marketplace (no featured offer)Unpriced / 5 each; minimum 1 pack(s). Checked by us · Unknown · out of stock, link working.Buy box read on 2026-10-04; seller: None; availability: Currently unavailable.; variants: none.Teyleten Robot AS5600 Magnetic Encoder 12bit high Precision Magnetic Induction Angle Measurement Sensor Module 3.3V (5PCS)
M2 heat-set threaded insert, 3 x 3.5 mmRequired · Purchased parts	88 each	USD 6.99 booktion1 pack(s) × 100 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources AIEX 100pcs 3D Printing Brass Nuts, M2 Threaded Insert, Knurled Brass Nuts, Female Thread Knurled Heat Embedment Nut for 3D Printing Parts (M2x3x3.5mm) Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history booktionUSD 6.99 / 100 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: booktion; availability: In Stock; variants: 100.AIEX 100pcs 3D Printing Brass Nuts, M2 Threaded Insert, Knurled Brass Nuts, Female Thread Knurled Heat Embedment Nut for 3D Printing Parts (M2x3x3.5mm)
M3 heat-set threaded insert, 4 x 5 mmRequired · Purchased parts	528 each	USD 41.94 booktion6 pack(s) × 100 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources 100pcs 3D Printing Brass Nuts, M3x4x5mm M3 Threaded Insert Knurled Brass Nuts Female Thread Knurled Heat Embedment Nut Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history booktionUSD 6.99 / 100 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Same observation notes as M2 heat-set threaded insert, 3 x 3.5 mm above.100pcs 3D Printing Brass Nuts, M3x4x5mm M3 Threaded Insert Knurled Brass Nuts Female Thread Knurled Heat Embedment Nut
MAD Components 5010 EEE 110KV V2.0 brushless motorRequired · Purchased parts	12 each	Unpriced Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history Amazon.com marketplace (no featured offer)Unpriced / 1 each; minimum 1 pack(s). Checked by us · Unknown · out of stock, link working.Buy box read on 2026-10-04; seller: None; availability: Currently unavailable. We don't know when or if this item will be back in stock.; variants: none.5010 EEE 110 KV V2.0MAD Components Drone brushless Motor for multirotor Quadcopter Drone
MAD Components M6C12 EEE 150KV brushless motorRequired · Purchased parts	10 each	USD 1,289.90 MAD components store10 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources MAD M6C12 EEE 150KV 170KV 280KV 400KV Brushless Motor for Multirotor Quadcopter Hexrcopter Drone RC DIY Hobby rig (150KV) Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history MAD components storeUSD 128.99 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: MAD components store; availability: In Stock; variants: 150KV.MAD M6C12 EEE 150KV 170KV 280KV 400KV Brushless Motor for Multirotor Quadcopter Hexrcopter Drone RC DIY Hobby rig (150KV)
M3 x 25 mm socket head cap screw, 12.9Required · Purchased parts	72 each	USD 8.99 BNUOK Fasterner1 pack(s) × 120 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources BNUOK 120pcs M3 x 25mm Hex Socket Head Cap Screws Bolts, 12.9 Grade Alloy Steel, Black Oxide Finish Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history BNUOK FasternerUSD 8.99 / 120 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: BNUOK Fasterner; availability: In Stock; variants: M3 x 25mm, 120.BNUOK 120pcs M3 x 25mm Hex Socket Head Cap Screws Bolts, 12.9 Grade Alloy Steel, Black Oxide Finish
M3 x 30 mm socket head cap screw, 12.9Required · Purchased parts	60 each	USD 8.99 BNUOK Fasterner1 pack(s) × 120 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources BNUOK 120pcs M3 x 30mm Hex Socket Head Cap Screws Bolts, 12.9 Grade Alloy Steel, Black Oxide Finish Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history BNUOK FasternerUSD 8.99 / 120 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: BNUOK Fasterner; availability: In Stock; variants: M3 x 30mm, 120.BNUOK 120pcs M3 x 30mm Hex Socket Head Cap Screws Bolts, 12.9 Grade Alloy Steel, Black Oxide Finish
M3 x 55 mm socket head cap screw, 12.9Required · Purchased parts	128 each	USD 43.47 uxcell3 pack(s) × 50 each; minimum 1 pack(s) · lowChecked by us · Oct 4, 2026 Price sources uxcell M3x55mm Alloy Steel 12.9 Grade Bolt Hex Socket Head Cap Screw 50pcs Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history uxcellUSD 14.49 / 50 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · low, link working.Buy box read on 2026-10-04; seller: uxcell; availability: Only 10 left in stock - order soon.; variants: none.uxcell M3x55mm Alloy Steel 12.9 Grade Bolt Hex Socket Head Cap Screw 50pcs
STMicroelectronics B-G431B-ESC1 motor controllerRequired · Purchased parts	22 each	USD 863.72 STMicroelectronics eStore22 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources ST eStore: B-G431B-ESC1 Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history STMicroelectronics eStoreUSD 39.26 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.schema.org Offer price 39.26 USD, availability https://schema.org/InStock; quantity breaks not modelled.ST eStore: B-G431B-ESC1
M4 x 12 mm female-female hex standoffRequired · Purchased parts	12 each	USD 9.99 uxcell1 pack(s) × 25 each; minimum 1 pack(s) · lowChecked by us · Oct 4, 2026 Price sources uxcell M4 x 12mm Female Threaded Brass Hex Standoff Pillar Spacer Nut 25pcs Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history uxcellUSD 9.99 / 25 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · low, link working.Buy box read on 2026-10-04; seller: uxcell; availability: Only 6 left in stock - order soon.; variants: none.uxcell M4 x 12mm Female Threaded Brass Hex Standoff Pillar Spacer Nut 25pcs
M4 x 15 mm female-female hex standoffRequired · Purchased parts	10 each	USD 1.01 liuxinbolan1 pack(s) × 10 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources Aexit M4 x Spacers & Standoffs 15mm Female/Female Thread Brass Hex Standoff Spacers Spacer 10pcs Requirement notes Actuator recipe quantity x 10 M6C12 and/or x 12 5010 actuators. Other offers & price history liuxinbolanUSD 1.01 / 10 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: liuxinbolan; availability: In Stock; variants: none.Aexit M4 x Spacers & Standoffs 15mm Female/Female Thread Brass Hex Standoff Spacers Spacer 10pcs
Beelink Mini S12 mini PC (N95, 8 GB, 256 GB)Required · Purchased parts	1 each	USD 279.00 Beelink USA Official1 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources Beelink Mini PC, Intel 12th Gen Alder Lake- N95(up to 3.4GHz), 8GB DDR4 RAM 256GB M.2 SSD, Mini S12 Other offers & price history Beelink USA OfficialUSD 279.00 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: Beelink USA Official; availability: In Stock; variants: N95 8G+256GB.Beelink Mini PC, Intel 12th Gen Alder Lake- N95(up to 3.4GHz), 8GB DDR4 RAM 256GB M.2 SSD, Mini S12
6S LiPo battery, 5000 mAh, EC5 (Zeee, 2-pack listing)Required · Power & cabling	1 each	Unpriced Other offers & price history Amazon.com marketplace (no featured offer)Unpriced / 2 each; minimum 1 pack(s). Checked by us · Unknown · out of stock, link working.Same observation notes as AS5600 magnetic encoder module above.Zeee 6S Lipo Battery 5000mAh 22.2V 120C with EC5 Connector (2 Pack)
USB-CAN adapter (FYSETC UCAN, STM32F072)Required · Purchased parts	4 each	USD 60.76 FYSETC Direct4 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources FYSETC 3D Printer Parts UCAN Board V1.0 Based on STM32F072 USB to CAN Adapter Type C Interface Support CANable/Candlelight/Klipperr Firmware-Pack of 1 Other offers & price history FYSETC DirectUSD 15.19 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: FYSETC Direct; availability: In Stock; variants: none.FYSETC 3D Printer Parts UCAN Board V1.0 Based on STM32F072 USB to CAN Adapter Type C Interface Support CANable/Candlelight/Klipperr Firmware-Pack of 1
Anker 4-port USB-A hubRequired · Power & cabling	2 each	USD 29.98 AnkerDirect2 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources Anker USB Hub, 4-in-1 USB Splitter, 4 USB-A Ports with 5Gbps Data Transfer Other offers & price history AnkerDirectUSD 14.99 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: AnkerDirect; availability: In Stock; variants: 2 ft, USB-A.Anker USB Hub, 4-in-1 USB Splitter, 4 USB-A Ports with 5Gbps Data Transfer
BNO085 IMU module (as linked by the sheet)Required · Purchased parts	1 each	Unpriced Other offers & price history Amazon.com marketplace (no featured offer)Unpriced / 1 each; minimum 1 pack(s). Checked by us · Unknown · out of stock, link working.Same observation notes as AS5600 magnetic encoder module above.9Axis Sensors Module Practical High Precisions Sensors Module GY-ICM20948V2 9DOF Magnetometer Module
2020 aluminum extrusion, 250 mmRequired · Purchased parts	2 each	USD 14.99 IXGNIJ1 pack(s) × 4 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources 4pcs 250mm T Slot 2020 Aluminum Extrusion European Standard Anodized Linear Rail Other offers & price history IXGNIJUSD 14.99 / 4 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: IXGNIJ; availability: In Stock; variants: Black, 4PCS 250mm(9.85'').4pcs 250mm T Slot 2020 Aluminum Extrusion European Standard Anodized Linear Rail
2020 aluminum extrusion, 200 mmRequired · Purchased parts	4 each	USD 13.99 IXGNIJ1 pack(s) × 4 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources 4pcs 200mm T Slot 2020 Aluminum Extrusion European Standard Anodized Linear Rail Other offers & price history IXGNIJUSD 13.99 / 4 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: IXGNIJ; availability: In Stock; variants: Black, 4PCS 200mm(7.87'').4pcs 200mm T Slot 2020 Aluminum Extrusion European Standard Anodized Linear Rail
2020 aluminum extrusion, 150 mmRequired · Purchased parts	2 each	USD 11.99 IXGNIJ1 pack(s) × 4 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources 4pcs 150mm T Slot 2020 Aluminum Extrusion European Standard Anodized Linear Rail Other offers & price history IXGNIJUSD 11.99 / 4 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: IXGNIJ; availability: In Stock; variants: Black, 4PCS 150mm(5.9'').4pcs 150mm T Slot 2020 Aluminum Extrusion European Standard Anodized Linear Rail
2020 aluminum extrusion, 100 mmRequired · Purchased parts	3 each	USD 12.99 Vichan-US1 pack(s) × 4 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources 2020 V Aluminum Extrusion, 4PCS 100mm European Standard Anodized Extruded Aluminum Profile Extrusion Linear Rail Other offers & price history Vichan-USUSD 12.99 / 4 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: Vichan-US; availability: In Stock; variants: 100mm, 4PCS 2020V.2020 V Aluminum Extrusion, 4PCS 100mm European Standard Anodized Extruded Aluminum Profile Extrusion Linear Rail
2020 inner corner bracket with screwsRequired · Purchased parts	24 each	Unpriced Other offers & price history Amazon.com marketplace (no featured offer)Unpriced / 20 each; minimum 1 pack(s). Checked by us · Unknown · out of stock, link working.Same observation notes as AS5600 magnetic encoder module above.20pcs 2020 Series Europe Standard Aluminum Profile T Slot 6mm Inner Bracket Joint with Screws, 2pcs of Wrench
DROK 9-36 V to 12 V 5 A regulatorRequired · Power & cabling	1 each	USD 16.99 DROK1 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources DROK DC-DC Stabilizer, 9V-36V to 12V Boost Buck Converter 5A 60W Waterproof Other offers & price history DROKUSD 16.99 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: DROK; availability: In Stock; variants: 12V 5A, Plastic Shell.DROK DC-DC Stabilizer, 9V-36V to 12V Boost Buck Converter 5A 60W Waterproof
12 V to 5 V 5 A USB buck converterRequired · Power & cabling	1 each	USD 13.99 Aceirmc US1 pack(s) × 2 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources ACEIRMC 2pcs Buck Converter 12v to 5v 5A USB Voltage Regulator DC 9V-36V Step Down (4pcs) Other offers & price history Aceirmc USUSD 13.99 / 2 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: Aceirmc US; availability: In Stock; variants: none.ACEIRMC 2pcs Buck Converter 12v to 5v 5A USB Voltage Regulator DC 9V-36V Step Down (4pcs)
DC voltage meter, LED displayRequired · Power & cabling	1 each	USD 13.99 SUPNOVA Electronics Co. Ltd.1 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources Waterproof Voltage Meter, Blue LED Digital Display Volt Gauge DC5-130V Other offers & price history SUPNOVA Electronics Co. Ltd.USD 13.99 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: SUPNOVA Electronics Co. Ltd.; availability: In Stock; variants: none.Waterproof Voltage Meter, Blue LED Digital Display Volt Gauge DC5-130V
DC volt/amp meter with hall-effect sensor, 100 ARequired · Power & cabling	1 each	USD 18.98 CrocSee1 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources DC 5-120V 100A Volt Amp Meter with Hall Effect Sensor Other offers & price history CrocSeeUSD 18.98 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: CrocSee; availability: In Stock; variants: none.DC 5-120V 100A Volt Amp Meter with Hall Effect Sensor
30 A manual-reset DC circuit breakerRequired · Power & cabling	1 each	USD 28.49 Ocean River Technology1 pack(s) × 1 each; minimum 1 pack(s) · in stockChecked by us · Oct 4, 2026 Price sources LENKRAD 30A Manual Reset Thermal Circuit Breaker, 12V - 48V DC, Waterproof (30 Amp) Other offers & price history Ocean River TechnologyUSD 28.49 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · in stock, link working.Buy box read on 2026-10-04; seller: Ocean River Technology; availability: In Stock; variants: 30A.LENKRAD 30A Manual Reset Thermal Circuit Breaker, 12V - 48V DC, Waterproof (30 Amp)
6803-2RS ball bearing, 17 x 26 x 5 mmRequired · Purchased parts	6 each	USD 19.90 Winter Evening, LLC2 pack(s) × 4 each; minimum 1 pack(s) · lowChecked by us · Oct 4, 2026 Price sources 17x26x5mm \| 6803-2RS (4 Rubber Sealed Bearings) Other offers & price history Winter Evening, LLCUSD 9.95 / 4 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · low, link working.Buy box read on 2026-10-04; seller: Winter Evening, LLC; availability: Only 11 left in stock - order soon.; variants: none.17x26x5mm \| 6803-2RS (4 Rubber Sealed Bearings)
LewanSoul BigClaw gripper with digital servoRequired · Purchased parts	2 each	USD 71.98 LewanSoul2 pack(s) × 1 each; minimum 1 pack(s) · lowChecked by us · Oct 4, 2026 Price sources Mechanical Claw Robot Gripper Grabber Pickup DIY, BigClaw With Digital Servo Other offers & price history LewanSoulUSD 35.99 / 1 each; minimum 1 pack(s). Checked by us · Oct 4, 2026 · low, link working.Buy box read on 2026-10-04; seller: LewanSoul; availability: Only 6 left in stock - order soon.; variants: with servo.Mechanical Claw Robot Gripper Grabber Pickup DIY, BigClaw With Digital Servo
Host computer able to run LeRobotRequired · Host computer	1 each	Unpriced Requirement notes Development computer for firmware and policy deployment. Other offers & price history No offer recorded.
FDM 3D printer (220 x 220 mm bed or larger)Required · Tools	1 each	Unpriced Requirement notes Printed structure is required; filament is outside the mapped BOM (coverage note). Other offers & price history No offer recorded.

Printing & required equipment

No mapped printing estimate. Refer to the coverage gaps above.

Required host computers, cameras and tools are separate from the Parts total. They appear in the required subtotal only where priced or explicitly owned. Labor: unknown.

Prices are dated US listings or upstream-published figures, not checkout guarantees. Shipping and tax assumptions remain visible above. We don’t earn from these links.

Download reviewed data

Full cost and sourcing receipt (JSON)

Berkeley Humanoid Lite, full robot (10 M6C12 + 12 5010 actuators) baseline CSV

Earlier upstream estimates and vendor offers

Earlier estimates

No current, complete configuration-specific build cost has been established for this profile.

What the parts cost now

The build's parts list is a live Google Sheet that totals USD 4,350.59 for the full robot: ten M6C12 and twelve 5010 cycloidal actuators plus the body. The sheet has no public revision history, so its prices cannot be dated, and we used only current US listings. [12] [13]

At US prices checked on October 4, 2026, the parts we could price add up to a known subtotal of USD 3,349.90. It is not a complete budget. Five required items had no usable listing: the 5010 motors and the AS5600 encoder five-packs were unavailable, and so were the 6S battery and the corner brackets. The IMU link now shows a different sensor, also unavailable. The twelve 5010 motors alone account for USD 1,008 at the sheet's price. The ten M6C12 motors cost USD 1,289.90. The STM B-G431B-ESC1 motor controller, which the sheet prices at USD 18.97 from Digi-Key, lists at USD 39.26 on ST's own store, or USD 863.72 for the 22 needed. The mini PC listing has risen from the sheet's USD 129 to USD 279. [12] [13]

Printing is outside the subtotal. The print files are on MakerWorld and Onshape rather than in a pinned archive, and their slicer profiles are shown only as screenshots, so we did not estimate filament. The sheet's unitemised allowances for fasteners, cables and connectors are also excluded, as are shipping, tax, a development computer and the printer. [5] [12] [13]

Project notes

Check corrections before producing parts

The official release log records corrected bearing descriptions, missing BOM items, a replacement gearbox housing print and a missing limit stopper. It also records updates to motor-calibration instructions and joint limits. Those changes make the revision of the BOM and print profile material to a build; a saved software checkout alone does not identify the correct manufacturing files. The Onshape and MakerWorld files still need a matched local export. [5]

The main archive omits two essential submodules

The workspace separates training tasks, robot-description assets and low-level control. We preserved the exact assets and low-level commits referenced by the main snapshot, instead of silently replacing them with newer branch heads. Motor-controller firmware remains a separate linked project. This improves source preservation but does not yet supply a fully matched and tested robot pack. [1] [5] [9] [10]

For operation, the onboard-computer guide uses Ubuntu 22.04 and begins with CAN connectivity, IMU and joystick checks. The pinned low-level README additionally requires joint-zero calibration after each power cycle because the actuators have a single motor-shaft encoder. That recurring step belongs in a future support-work estimate, before attempting the learned controller. No such startup or motion test has been performed here. [8] [10]

The primary README assigns MIT to code and CC BY-SA 4.0 to other assets. That is a useful distinction for reuse, but it does not settle the terms or completeness of each external component and firmware dependency. [1] [11]

What we checked

Source research only; no installation, physical build or performance test performed. No affiliate links added.

Not yet established

A step-by-step setup summary

Updates

Upstream last updated: Mar 10, 2026 [2]
Latest release: Not established
Profile updated: Oct 4, 2026
Sources last checked: Sep 30, 2026
Next review: Oct 30, 2026
Reviewed revision: 984741a3623c93b0583ccfdc479f1f8b1c4d900e (commit snapshot; no published stable release found) · combined hardware and software repository

Source files and licenses

Available project sources support research coverage; complete build and commercial qualification remain separate.

Layer	Availability / license
mechanical design	available · CC-BY-SA-4.0 README assets declaration; Onshape and MakerWorld manufacturing pack not fully preserved/matched. [1] [5]
electronics	not found · License not fully assessed Complete editable electronics pack not established in main archive and release index review. [4] [5]
firmware	available · License not fully assessed Official release index links separate motor firmware; matching revision and license not inspected here. [5]
software	available · MIT Primary code declaration; component and dependency terms must be assessed separately. [1] [11]
model weights	available · License not fully assessed ONNX filenames in primary archive; payload completeness, individual rights and exact deployment match remain unverified. [4]
datasets	not found · License not fully assessed No complete training dataset established in reviewed primary archive inventory. [4]
documentation	available · License not fully assessed Public build documentation inspected; distinct page reuse terms not established. [5] [6] [7] [8]

References

Each source links to the exact revision we read. “Used for” shows where this page relies on it.

Project sources

S001 Berkeley-Humanoids/berkeley-humanoid-lite: README.md
Revision, date & where cited
github.com · revision 984741a · Accessed Sep 30, 2026

Used for: Overview, Is this for you?, What you need, Hardware & parts and 3 more
S002 Berkeley-Humanoids/berkeley-humanoid-lite: commit 984741a
Revision, date & where cited
github.com · Accessed Sep 30, 2026

Used for: What we checked
S004 Berkeley-Humanoids/berkeley-humanoid-lite: files
Revision, date & where cited
github.com · revision 984741a · archive file inventory · Accessed Sep 30, 2026

Used for: Source files and licenses
S005 releases.md
Revision, date & where cited
Berkeley-Humanoids / project contributors · berkeley-humanoid-lite.gitbook.io · Accessed Sep 30, 2026

Used for: Is this for you?, What you need, Hardware & parts, Assembly & first use and 4 more
S006 getting-started-with-hardware_materials-and-parts-bom.md
Revision, date & where cited
Berkeley-Humanoids / project contributors · berkeley-humanoid-lite.gitbook.io · Accessed Sep 30, 2026

Used for: Overview, Is this for you?, What you need, Hardware & parts and 2 more
S007 getting-started-with-hardware_preparing-the-tools.md
Revision, date & where cited
Berkeley-Humanoids / project contributors · berkeley-humanoid-lite.gitbook.io · Accessed Sep 30, 2026

Used for: Overview, Is this for you?, What you need, Hardware & parts and 2 more
S008 getting-started-with-software_the-on-board-computer.md
Revision, date & where cited
Berkeley-Humanoids / project contributors · berkeley-humanoid-lite.gitbook.io · Accessed Sep 30, 2026

Used for: Is this for you?, What you need, Hardware & parts, Assembly & first use and 2 more
S009 Pinned source/berkeley_humanoid_lite_assets
Revision, date & where cited
Berkeley-Humanoids / project contributors · github.com · revision fc90fed · Exact gitlink revision from main snapshot · Accessed Sep 30, 2026

Used for: Is this for you?, What you need, Hardware & parts, Assembly & first use and 1 more
S010 Pinned source/berkeley_humanoid_lite_lowlevel
Revision, date & where cited
Berkeley-Humanoids / project contributors · github.com · revision 652777c · Exact gitlink revision from main snapshot · Accessed Sep 30, 2026

Used for: Is this for you?, What you need, Hardware & parts, Assembly & first use and 1 more
S011 Root LICENCE
Revision, date & where cited
github.com · revision 984741a · Accessed Sep 30, 2026

Used for: The main archive omits two essential submodules, Source files and licenses
S012 Berkeley Humanoid Lite BOM Google Sheet
Per-actuator and whole-robot parts with quantities and US unit costs; humanoid total USD 4,350.59; 10 M6C12 and 12 5010 actuators.
Revision, date & where cited
Berkeley Humanoids · docs.google.com · Tabs M6C12 Actuator, 5010 Actuator, Humanoid · Accessed Oct 4, 2026

Used for: Cost & sourcing

Our checks and receipts

S013 Berkeley Humanoid Lite US cost and sourcing estimate receipt
Line-level US offers, gaps and rollups for the full Berkeley Humanoid Lite.
Revision, date & where cited
Open Source Robotics · opensourcerobotics.dev · Rollups as of 2026-10-04 · Accessed Oct 4, 2026

Used for: Cost & sourcing

Videos

S014 Berkeley Humanoid Lite: An Open source, Accessible, and Customizable 3D printed Humanoid Robot. (YouTube video)
Video uploaded by Hybrid Robotics, linked from the project’s own documentation. Not reviewed by us for accuracy.
Revision, date & where cited
YouTube video Hybrid Robotics · youtube.com · Accessed Oct 4, 2026

Correction guidance · Discussion is not enabled · Profile format 0.7.0-draft.5

Change history

2026-10-04 — Staged v0.7 cost and sourcing estimate: line-level BOM, US offers and named gaps. Not yet reviewed or published.

2026-10-04 — Staged draft.5 estimate excludes confirmed broken/unavailable listings while preserving historical prices. Not published.

2026-10-04 — Added 1 YouTube reference(s) (S014): official channel or videos linked from the pinned upstream sources. Existing claims, source-check dates and evidence are unchanged.

Overview

Is this for you?

3D preview

What you need

Hardware & parts

Assembly & first use

Cost & sourcing

Cost layers

Parts & sourcing

Printing & required equipment

Earlier estimates

What the parts cost now

Project notes

Check corrections before producing parts

The main archive omits two essential submodules

What we checked

Not yet established

Updates

Source files and licenses

References

Project sources

Our checks and receipts

Videos

Follow the work