Berkeley Humanoid Lite vs HopeJR Arm (with Homunculus teleop)
Cost, parts and difficulty side by side.
| Berkeley Humanoid Lite | HopeJR Arm (with Homunculus teleop) | |
|---|---|---|
| Cost | $4,300 to $4,800 | $650 to $1,100 |
| Difficulty | advanced | advanced |
| Parts | 23 | 37 |
| 3D printing | yes | yes |
| Kits available | 0 | 0 |
| Made by | UC Berkeley Hybrid Robotics | TheRobotStudio and Hugging Face |
| Full list | Berkeley Humanoid Lite parts list | HopeJR Arm (with Homunculus teleop) parts list |
Berkeley Humanoid Lite
Child-sized research humanoid with 22 printed cycloidal-gear actuators driven by drone motors, aimed at learned walking for under $5,000.
HopeJR Arm (with Homunculus teleop)
Human-scale arm with a tendon-driven dexterous hand, plus a hall-sensor exoskeleton and glove for one-to-one teleoperation in LeRobot.
The short answer
HopeJR Arm costs less to start: about $650 against $4,300 in parts. Berkeley Humanoid Lite has the shorter parts list (23 lines against 37). Both are rated advanced. Berkeley Humanoid Lite: 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.
Motors and servos
Berkeley Humanoid Lite
- 10 x MAD Components M6C12 EEE 150KV brushless motor
- 12 x MAD Components 5010 EEE 110KV brushless motor
- 22 x STMicroelectronics B-G431B-ESC1 discovery kit
- 286 x MR106-2RS bearing (6x10x3 mm)
- 44 x 6701-2RS bearing (12x18x4 mm)
- 20 x 6811ZZ bearing (55x72x9 mm)
- 24 x 6809ZZ bearing (45x58x7 mm)
- 260 x M3 socket screws: 55 mm, 30 mm and 25 mm
- 2 x LewanSoul / Hiwonder BigClaw servo gripper
HopeJR Arm
- 16 x Feetech SCS0009
- 2 x Feetech STS3250
- 4 x Feetech STS3215 12V
- 1 x Feetech SM8512BL