Berkeley Humanoid Lite parts list

Discontinued part: the MAD 5010 110KV motor is no longer made. The team says 140KV or higher works but runs hotter; price a substitute before ordering.

Child-sized research humanoid with 22 printed cycloidal-gear actuators driven by drone motors, aimed at learned walking for under $5,000.

Humanoidsadvanced by UC Berkeley Hybrid Robotics

Total parts cost: $4,300 to $4,800 (cheapest listed sellers add up to about $30)

Official BOM 'Humanoid' tab totals $4,350.59 with US links (the paper's Table III says $4,312, or about $3,236 sourcing in China). Includes all 22 actuators, filament, electronics and gripper claws. Excludes a 3D printer, tools, a teleop or motion-capture setup, shipping, and the price bump if the discontinued 5010 110KV motor forces a substitute.

Exploded view

Tap any part to see where to buy it. Diagram is schematic, not to scale.

Every part you need

Part	Qty	Spec	Where to buy
MAD Components M6C12 EEE 150KV brushless motor large actuator motors (legs and shoulders)	10	One per 6512 cycloidal actuator: 8 in the legs, 2 in the arms; official BOM lists $129/unit The big joints (hips, knees and shoulders) need the higher torque of the larger stator.	Amazon: check price OpenELAB: check price (unverified)
MAD Components 5010 EEE 110KV brushless motor small actuator motors (ankles, elbows, wrists)	12	One per 5010 cycloidal actuator: 4 in the legs, 8 in the arms; official BOM lists $84/unit Lighter joints get the smaller motor to save weight and cost.	Amazon: check price OpenELAB: EUR 104.95 single; sold out when checked
STMicroelectronics B-G431B-ESC1 discovery kit motor controllers	22	One per actuator; runs the project's FOC firmware and talks CAN; official BOM lists $18.97/unit at DigiKey Small, cheap field-oriented-control ESC that sits on the back of each actuator.	DigiKey: check price (unverified) single; BOM link TME: EUR 47.11 (unverified) single; net price
AS5600 magnetic angle encoder board (with diametric magnet) joint encoders	22	I2C, one per actuator; the board needs a resistor change per the docs; official BOM lists $3.30/unit Reads the motor shaft angle for commutation and joint position.	Amazon: check price
MR106-2RS bearing (6x10x3 mm) actuator bearings (input shaft)	286	13 per actuator x 22 actuators; official BOM lists $0.87 each Supports the input shaft and cycloidal disk pins.	Amazon: check price
6701-2RS bearing (12x18x4 mm) actuator bearings (cycloidal disk)	44	2 per actuator x 22 Sits between the cycloidal disk and the output shaft.	Amazon: check price
6811ZZ bearing (55x72x9 mm) output bearings, 6512 actuator	20	2 per 6512 actuator x 10; official BOM lists $5.00 each Carries the output shaft load in the large actuator housing.	Amazon: check price
6809ZZ bearing (45x58x7 mm) output bearings, 5010 actuator	24	2 per 5010 actuator x 12; official BOM lists $2.26 each Same job as the 6811ZZ in the smaller housing.	Amazon: check price
6803-2RS bearing (17x26x5 mm) leg linkage bearings	6	Linkage on the leg pitch actuators Lets the leg pitch linkage turn smoothly.	Amazon: check price
M3 socket screws: 55 mm, 30 mm and 25 mm actuator screws	260	M3x55: 8 per 6512 + 4 per 5010 = 128; M3x30: 6 per 6512 = 60; M3x25: 6 per 5010 = 72 Close the actuator housing and fix the output shaft.	Amazon: check price Amazon: check price Amazon: check price
M3 x 4 x 5 mm and M2 x 3 x 3.5 mm brass inserts heat-set inserts	616	M3: 24 per actuator = 528; M2: 4 per actuator = 88 (for the encoder) Give the printed housings strong threads.	Amazon: check price Amazon: check price
M4 female hex standoffs, 15 mm and 12 mm input shaft stiffeners	22	M4x15: 1 per 6512 = 10; M4x12: 1 per 5010 = 12 Stiffens the printed input shaft.	Amazon: check price Amazon: check price
Beelink Mini S12 mini PC (Intel N95, 8 GB, 256 GB) on-board computer	1	Runs the low-level control loop and policy; official BOM lists $129 Small x86 PC that runs the Python control stack without a GPU.	Amazon: check price
6S LiPo, about 4000 mAh, XT60 battery	1	22.2V nominal; about 30 minutes of operation per the paper; official BOM lists $70.20 Powers all actuators and, through regulators, the PC.	Amazon: check price
FYSETC UCAN USB-to-CAN adapter (STM32F072) CAN interfaces	4	One CAN bus per limb at 1 Mbps; official BOM lists $16.99/unit Connects each limb's chain of motor controllers to the PC.	Amazon: check price
USB hub USB hubs	2	As linked in the BOM; official BOM lists $17.99/unit The PC needs ports for four CAN adapters, the IMU and a gamepad.	Amazon: check price
BNO085 9-DOF IMU breakout (or Hiwonder IM10A USB IMU) IMU	1	BNO085 wired through an Arduino Nano in the original build; the docs now recommend the USB IM10A (BOM lists $89.99) to skip soldering Body orientation for the walking policy.	Adafruit: $29.50 single; BNO085 Amazon: check price Hiwonder: check price (unverified) IM10A; BOM link
European-standard aluminum extrusion pieces plus inner corner brackets frame	1	2x 250 mm, 4x 200 mm, 2x 150 mm, 3x 100 mm, plus 24 inner brackets Stiff spine and limb segments between the printed parts.	Amazon: check price Amazon: check price
24V-to-12V and 12V-to-5V DC-DC converters power regulation	2	One of each, as linked in the BOM Steps battery voltage down for the PC and logic.	Amazon: check price Amazon: check price
Circuit breaker, voltage monitor, current monitor power safety and monitoring	3	One of each, as linked in the BOM Cuts power fast and shows battery state while testing.	Amazon: check price Amazon: check price Amazon: check price
LewanSoul / Hiwonder BigClaw servo gripper hands	2	Official BOM lists $35.99/unit; the listing title says it comes with a digital servo Simple claw end effectors for teleoperated grasping.	Amazon: check price
PLA filament printed structure	1	BOM budgets about $200 of PLA for the body plus 0.1 to 0.12 kg per actuator; Bambu PLA Basic or Hatchbox Housings, cycloidal gears and body shells are all printed.	Amazon: check price Bambu Lab: check price (unverified) 1 kg; docs link
XT60 and XT30 connectors, signal and power cable, heat shrink, WAGO lever connectors wiring	1	BOM budgets about $50 for cables and connectors plus $5 per actuator; XT60 on the main bus, XT30 to each actuator Power bus and CAN wiring to every joint.	no verified seller yet

Quantities follow the official Berkeley Humanoid Lite docs: https://berkeley-humanoid-lite.gitbook.io/docs. "Unverified" prices come from search listings or older BOMs that we could not confirm on the seller's product page.

3D printed parts

Needed. Designed on a Bambu Lab X1C; any printer with at least 200x200x200 mm works (Ender-3 V3 SE tested). Actuator housings and shafts use separate stronger profiles from the MakerWorld project files. Upper and lower body plates must be printed twice, once mirrored. Separate MakerWorld projects exist for the 6512 and 5010 actuators; CAD is on Onshape. Files: https://makerworld.com/en/models/1327260-berkeley-humanoid-lite

Mistakes builders make

The MAD 5010 110KV motor was discontinued; the team says 140KV or higher works but runs hotter and needs the firmware motor constants updated.
The single-actuator BOM tabs show a motor quantity of 1; that is per actuator. The whole robot needs 10 M6C12 and 12 5010 actuators (see the Humanoid tab).
Each AS5600 board needs a small resistor rework (remove R4, move R1); the team added a video because builders struggled with it. Extra solder paste helps.
Early BOM links pointed to the wrong M4 standoff and missed the M2 encoder inserts; both were fixed in May 2025, so use the current sheet.
Aluminum extrusion names in early CAD did not match real lengths; use CAD version V2.
The BOM's US link for the BNO085 goes to a listing titled for an ICM20948 board. Confirm the chip, or use the USB IM10A the docs now recommend.
A glue gun is needed to fix the encoder magnet on each motor shaft; the docs added instructions after builders asked.

FAQ

How much does it cost to build the Berkeley Humanoid Lite?

About $4,300 to $4,800 in parts at current prices, Official BOM 'Humanoid' tab totals $4,350.59 with US links (the paper's Table III says $4,312, or about $3,236 sourcing in China). Includes all 22 actuators, filament, electronics and gripper claws. Excludes a 3D printer, tools, a teleop or motion-capture setup, shipping, and the price bump if the discontinued 5010 110KV motor forces a substitute..

Do I need a 3D printer for the Berkeley Humanoid Lite?

Yes. Designed on a Bambu Lab X1C; any printer with at least 200x200x200 mm works (Ender-3 V3 SE tested). Actuator housings and shafts use separate stronger profiles from the MakerWorld project files. Upper and lower body plates must be printed twice, once mirrored. Separate MakerWorld projects exist for the 6512 and 5010 actuators; CAD is on Onshape.