Berkeley Humanoid is a compact, low-cost bipedal research platform from UC Berkeley’s Hybrid Robotics lab, led by Qiayuan Liao — built to make legged-locomotion research more accessible by keeping the hardware simple, lightweight, and reproducible rather than chasing a full-size, fully-actuated humanoid.
The mechanism
Each leg carries six actuated joints — hip rotation, hip abduction/adduction, hip flexion/extension, knee flexion/extension, and two ankle axes — giving twelve degrees of freedom in total, evenly split between the left and right leg. No mimic joints or closed kinematic loops anywhere in the description, so this is a direct, unadjusted read. This release has no arms: the vendor’s own FAQ notes an arm is still in development, and this version is focused purely on locomotion research.
About this file — read before importing
This links directly to berkeley_humanoid_description, Hybrid Robotics’ own repository. ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what Hybrid Robotics publishes, unmodified. Note that while the repository states a BSD 3-Clause license, no LICENSE file has actually been committed — see the license notice above before relying on this for anything beyond visualization.