3D-printed humanoid robotic gives reasonably priced, customizable platform for learners

As an undergraduate pupil, Yufeng Chi (B.S.’23 EECS) was captivated by humanoid and legged robots. Wanting to study extra, he would watch YouTube movies and dive into class tasks, however getting hands-on expertise and tinkering on his personal was not simple.

“I used to be considering constructing my very own model of a humanoid robotic, however again then, issues like actuators, motors and robotics kits weren’t broadly accessible—and builders saved the supply code non-public,” he stated. “So I began searching for methods I might [make a] DIY robotic.”

Now a Ph.D. pupil within the Division of Electrical Engineering and Pc Sciences, Chi is a part of a crew of Berkeley engineers that has developed Berkeley Humanoid Lite, a low-cost, open-source robotic fabricated from 3D-printed components. They not too long ago offered a paper on their work on the 2025 Robotics Science and Methods convention (RSS 2025), held in Los Angeles June 21–25.

Humanoid robotics has advanced quickly through the years, with units now being designed for purposes in industrial automation, well being care, analysis and private help. Regardless of rising curiosity on this subject, Chi stated most commercially accessible {hardware} stays comparatively costly.

With the passage of time, price has change into the simpler downside to resolve. The larger problem, he stated, has been addressing customization and useful resource points.

Industrial firms might supply fully constructed robots, however the proprietary nature of their {hardware} and software program design usually makes it tough to switch components or to switch parts. This limits alternatives for novice roboticists to experiment with customization and to additional discover the boundaries of humanoid applied sciences.

On the identical time, not everybody has entry to state-of-the-art tools. “Some analysis tasks assume you’ve got entry to fancy CNC [computer numerical control] machines for superior fabrication and are utilizing personalized PCBs [printed circuit boards] for the electronics,” stated Chi. “In a totally outfitted lab, making a robotic from scratch could also be doable, however for a lot of, together with hobbyists and DIYers, it is simply out of attain.”

By growing Berkeley Humanoid Lite, the researchers got down to present a launching level for anybody with an curiosity in humanoid know-how.

“Our intention is to assist folks within the analysis and schooling area change into accustomed to how a humanoid system works, together with tips on how to assemble and develop a robotic platform, by offering them with a template to get began,” he stated. “It is all about trying into an instance system and constructing this technique from scratch, one block after one other. Then after you’ve got gained expertise and confidence, you may construct upon it and take it to a brand new degree.”

The core of Berkeley Humanoid Lite’s design is a modular 3D-printed gearbox for the actuators and robotic physique. All different parts could be sourced from broadly accessible e-commerce platforms or fabricated with customary desktop 3D printers. This retains the entire {hardware} price beneath $5,000 (primarily based on U.S. market costs), a fraction of the price of buying a commercially constructed robotic of comparable scale. As well as, replacements for damaged or worn components could be simply fabricated utilizing the 3D printer.

As soon as accomplished, Berkeley Humanoid Lite stands at about 1 meter and weighs roughly 16 kg.

Chi estimates that it might take a novice roboticist about one week to construct their very own Berkeley Humanoid Lite, although this timeline might fluctuate relying on one’s skillset and expertise degree. “The excellent news is that in our Discord and different neighborhood group chats, we’re seeing customers really constructing it,” he stated. “They’ve displayed footage of assembled robots, which is fairly thrilling.”

Since Chi started engaged on Berkeley Humanoid Lite 4 years in the past, new startup firms have begun promoting extra reasonably priced metallic actuators. However Chi believes Berkeley Humanoid Lite’s modularity provides it an essential benefit over business merchandise.

“Utilizing our strategy, you can begin by constructing one actuator, make it flip, then strive placing multiples right into a easy arm or leg,” he stated.

Recognizing that 3D-printed components inherently lack the power of supplies corresponding to aluminum, the researchers adopted a cycloidal gear design for the gearbox contained in the actuator.

“The primary profit is that the gear’s tooth are very massive,” stated Chi. “This distributes the load throughout a bigger floor space than conventional gear methods, lowering stress and put on.”

As well as, they examined a number of facets of the 3D-printed actuators to validate their sturdiness. “Our findings confirmed that the 3D-printed actuator is no less than on par with different actuators,” Chi stated, “or inside the tolerance margin to realize these higher-level duties and abilities.”

He added, “We designed this in order that if an actuator breaks down, you may simply print one other gear field and swap it out, [but] now we have but to interrupt a single actuator on any of our take a look at robots, even after placing them via all these experiments.”

The researchers additionally examined Berkeley Humanoid Lite’s means to finish easy duties, corresponding to greedy objects and strolling ahead.

To allow hand manipulation, the researchers assembled a teleoperation system for the robotic. Utilizing joystick controls, they demonstrated Berkeley Humanoid Lite’s means to seize and play with gadgets, together with a Rubik’s Dice. The researchers additionally used reinforcement studying to develop a locomotion controller that permits the bipedal robotic to stroll.

Chi famous that whereas the robotic’s locomotion abilities are a “bit wonky and never fairly elegant,” he is hopeful that the Berkeley Humanoid Lite neighborhood will work collectively to enhance the software program code over time and resolve any bugs.

Berkeley Humanoid Lite’s {hardware} design, embedded code, and coaching and deployment frameworks are totally open supply. The researchers wished customers to have the ability to see how all the things works and to simply customise the robotic.

“I imagine within the spirit of open-source communities, the concept of an ecosystem the place folks share concepts and data,” stated Chi. “Our hope is that Berkeley Humanoid Lite will assist transfer us nearer to democratizing the event of humanoid robotics.”

Along with Chi, the examine’s co-authors embrace Koushil Sreenath, affiliate professor of mechanical engineering and the examine’s principal investigator; mechanical engineering Ph.D. college students Qiayuan Liao, Junfeng Lengthy, Xiaoyu Huang and Zhongyu Li; and Sophia Shao, affiliate professor, and Borivoje Nikolic, professor, each with the Division of Electrical Engineering and Pc Sciences.