3D-printed humanoid robotic provides inexpensive, customizable platform for inexperienced persons

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 initiatives, however getting hands-on expertise and tinkering on his personal was not simple.

“I used to be all in favour of constructing my very own model of a humanoid robotic, however again then, issues like actuators, motors and robotics kits weren’t extensively out there—and builders stored the supply code non-public,” he stated. “So I began in search of methods I may [make a] DIY robotic.”

Now a Ph.D. pupil within the Division of Electrical Engineering and Pc Sciences, Chi is a part of a staff 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 introduced a paper on their work on the 2025 Robotics Science and Programs convention (RSS 2025), held in Los Angeles June 21–25.

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

With the passage of time, value has turn out to be the better drawback to resolve. The larger problem, he stated, has been addressing customization and useful resource points.

Business firms could provide utterly constructed robots, however the proprietary nature of their {hardware} and software program design typically makes it tough to switch components or to switch elements. This limits alternatives for novice roboticists to experiment with customization and to additional discover the boundaries of humanoid applied sciences.

On the similar time, not everybody has entry to state-of-the-art gear. “Some analysis initiatives 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 training house turn out to be accustomed to how a humanoid system works, together with methods 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 method from scratch, one block after one other. Then after you have gained expertise and confidence, you possibly can construct upon it and take it to a brand new stage.”

The core of Berkeley Humanoid Lite’s design is a modular 3D-printed gearbox for the actuators and robotic physique. All different elements will be sourced from extensively out there e-commerce platforms or fabricated with normal desktop 3D printers. This retains the full {hardware} value underneath $5,000 (based mostly 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 will 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 could take a novice roboticist about one week to construct their very own Berkeley Humanoid Lite, although this timeline could fluctuate relying on one’s skillset and expertise stage. “The excellent news is that in our Discord and different group 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 inexpensive metallic actuators. However Chi believes Berkeley Humanoid Lite’s modularity offers it an essential benefit over industrial merchandise.

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

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

“The primary profit is that the gear’s enamel are very massive,” stated Chi. “This distributes the load throughout a bigger floor space than conventional gear techniques, 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 attain these higher-level duties and abilities.”

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

The researchers additionally examined Berkeley Humanoid Lite’s capability to finish easy duties, similar 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 capability to seize and play with objects, together with a Rubik’s Dice. The researchers additionally used reinforcement studying to develop a locomotion controller that allows 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 group 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 absolutely open supply. The researchers needed customers to have the ability to see how every thing 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 embody 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.