Berkeley Humanoid Lite is a sub-$5,000, fully 3D-printable research humanoid from UC Berkeley’s Hybrid Robotics lab — a deliberately cheaper, more accessible sibling to the lab’s earlier Berkeley Humanoid, built so more labs can afford a real bipedal platform instead of simulating one.
The mechanism
Each arm carries five actuated joints (shoulder pitch, roll, and yaw, plus elbow pitch and roll) and each leg carries six (hip roll, yaw, and pitch, knee pitch, and ankle pitch and roll), for 22 degrees of freedom in total — full arms and legs, unlike the original Berkeley Humanoid’s legs-only release. No mimic joints or closed kinematic loops anywhere in the description, so this is a direct, unadjusted read, and every link carries real mass and inertia data.
About this file — read before importing
This links directly to Berkeley-Humanoid-Lite-Assets, Hybrid Robotics’ own repository (the CAD/description submodule of their main Berkeley-Humanoid-Lite codebase). ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what Hybrid Robotics publishes, unmodified. It’s released under a real, committed CC BY-SA 4.0 license — share-alike, so an adaptation you redistribute yourself needs to carry the same terms; ARMOR’s own linking doesn’t trigger that, only your own redistribution would.