Public BOM audited. This is a source-bound system evidence record, not an independent rebuild.
Humanoid · Hybrid Robotics / UC Berkeley
Berkeley Humanoid Lite
Live spreadsheet · live / not commit-addressable.
No complete rebuild evidence package found.
The robot name is not the version boundary.
RCI preserves the exact source surface and revision conditions instead of applying one prototype or current product page to every unit.
Platform boundary
Berkeley Humanoid Lite
Platform release v1.1.0 is selected for lifecycle context; the live Google Sheet is audited separately because it is not embedded in or frozen by that release.
Version state
Mutable source surface
The sheet is a live public document with no immutable release identifier exposed in the selected surface; repository release v1.1.0 and the live BOM therefore remain separate evidence boundaries.
Lifecycle boundary
Changes remain attached to the source.
Release v1.1.0 records missing-BOM-part fixes and the project announces V2 exploration; the selected sheet also contains an alternative IMU row outside its totals.
Responsibility party
Hybrid Robotics / UC Berkeley
RCI maps the named public responsibility party; inclusion does not imply endorsement, partnership or unit-level verification.
2 bounded lifecycle or procurement relations.
Replacement, upgrade, EOL and regional procurement signals remain separate from current availability and as-built identity.
revision-separation
Berkeley Humanoid Lite release v1.1.0 → Mutable public Google Sheet observed 2026-08-13
No immutable public sheet revision is selected or cryptographically bound to release v1.1.0.
System impact: Procurement rows, links, formulas and alternatives can change without changing the release tag.
Open: A release-specific BOM snapshot remains unavailable.
regional-procurement-boundary
US procurement-link column → China procurement-link column
The live sheet publishes regional link columns, but RCI does not republish volatile retailer URLs or prices.
System impact: Regional procurement routes do not establish equivalent model, current stock, landed cost or substitution safety.
Open: No normalized regional availability, lead-time or single-source-risk evidence is published.
Strongest supported conclusion
All 52 selected rows publish quantities; 42 provide both US and China procurement links, with regional price formulas and separate actuator/humanoid tabs.
Largest rebuild gap: No immutable sheet snapshot binds the live BOM to release v1.1.0, and generic Misc rows prevent a fully flattened procurement boundary.
Editorial boundary: A live spreadsheet can be procurement-useful while remaining a weak citation target: values, links and formulas may change without an immutable public revision tied to the robot release.
Twelve gates separate a parts list from a rebuild package.
Partial means a source contains useful material but does not close the exact revision, quantity, part identity or unit-level boundary.
| Evidence dimension | State | What the state means here |
|---|---|---|
| Exact platform revision | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Versioned BOM snapshot | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Line-item quantities | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Manufacturer part numbers | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Supplier links | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Custom-part production files | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Electrical interconnect definition | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Software / firmware binding | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| License boundary | Partial | Useful information exists, but exactness, completeness or version binding remains incomplete. |
| Change, EOL and substitution history | Published | The selected responsibility-party surface publishes this dimension inside the recorded boundary. |
| Unit-level as-built manifest | Not published | The selected sources do not publish this evidence dimension. |
| Independent rebuild evidence | Not published | The selected sources do not publish this evidence dimension. |
Public Google Sheet tabs: Humanoid, M6C12 Actuator and 5010 Actuator
The count below preserves the responsibility party's publication structure; it is not silently flattened into unique purchasable components.
Selected count
52 rows / list items
Twenty-six Humanoid rows, thirteen M6C12 rows and thirteen 5010 rows after excluding headings and totals. Four rows are generic Misc aggregates; formulas and alternative items remain part of the live-sheet boundary.
Format
Live spreadsheet
The selected surface is natively tabular.
Next evidence gate
Normalize without inventing.
Resolve exact part identity, quantity scope, placement, revision and substitution state while retaining nested assemblies, alternatives and generic groups as explicit boundaries.
As-built state
Not published
A public list does not establish what one serialised unit actually contained.
No manufacturer identity is safely linked from the selected rows.
These are responsibility-party BOM mentions, not partnership, endorsement, verified supply or exact-component equivalence.
Generic or unregistered identities remain unlinked.
RCI will add a relationship only after the source publishes a manufacturer identity that maps unambiguously to the directory.
9 bounded nodes and 10 source-supported interface relations.
RCI publishes a connection only when the selected responsibility-party source explicitly supports the endpoints or architecture. A BOM co-occurrence, component capability or engineering convention is not enough.
compute node
On-board BeeLink N95-class NUC / live-BOM Mini PC boundary
The current software guide identifies a BeeLink N95 NUC running Ubuntu 22.04, while the mutable live BOM row remains generic “Mini PC”.
Identity boundary: Exact order code, CPU SKU, memory, storage, PCB revision, serial, operating-system image, kernel and installed dependency hashes are not frozen or bound to release v1.1.0.
Source rows: berkeley-humanoid-lite-humanoid-mini-pc
control node
Two generic USB expansion hubs
The live Humanoid BOM publishes two USB hubs used to expand the on-board host interface surface.
Identity boundary: Hub models, port counts, upstream/downstream assignment, power mode, bandwidth, transaction-translation behavior, cable identities and installed topology are not frozen.
Source rows: berkeley-humanoid-lite-humanoid-usb-hub
control node
Four generic USB-CAN adapters / can0–can3 transport boundary
The live BOM publishes four USB-CAN adapters and the current on-board guide expects four Linux CAN ports for the two arms and two legs.
Identity boundary: Adapter model, transceiver, USB descriptor, firmware, serial-to-port mapping, termination, exact cable routing and physical can0–can3 assignment are not frozen.
Source rows: berkeley-humanoid-lite-humanoid-usb-can
actuation node
Ten M6C12 actuator positions with B-G431B-ESC1 and AS5600 module boundary
The live Humanoid tab publishes eight leg and two arm M6C12 actuators; the actuator tab separately publishes one motor controller and encoder per module without an RCI whole-robot multiplication claim.
Identity boundary: Ten serialised modules, motor/ESC/encoder revisions, CAN IDs, calibration offsets, firmware hashes, phase order, gearbox condition and installed joint mapping are not bound to one robot.
Source rows: berkeley-humanoid-lite-humanoid-legs-m6c12, berkeley-humanoid-lite-humanoid-arms-m6c12, berkeley-humanoid-lite-m6c12-esc, berkeley-humanoid-lite-m6c12-as5600
actuation node
Twelve 5010 actuator positions with B-G431B-ESC1 and AS5600 module boundary
The live Humanoid tab publishes four leg and eight arm 5010 actuators; the actuator tab separately publishes one controller and encoder per module without silently multiplying the subassembly BOM.
Identity boundary: Twelve serialised modules, motor/ESC/encoder revisions, CAN IDs, calibration offsets, firmware hashes, phase order, gearbox condition and installed joint mapping are not bound to one robot.
Source rows: berkeley-humanoid-lite-humanoid-legs-5010, berkeley-humanoid-lite-humanoid-arms-5010, berkeley-humanoid-lite-5010-esc, berkeley-humanoid-lite-5010-as5600
perception node
Original BNO085 plus Arduino Nano-to-host IMU path
The current robot-building guide describes the original BNO085 path through an Arduino Nano to the computer.
Identity boundary: Arduino board identity is not preserved as a selected live-BOM row; breakout revision, I²C wiring, firmware, USB serial settings, calibration and physical installation are not frozen.
Source rows: berkeley-humanoid-lite-humanoid-bno085
perception node
Recommended alternative IM10A direct-USB IMU path
The current guide recommends IM10A because it connects directly over USB; the live BOM marks it as an alternative rather than a simultaneous second IMU.
Identity boundary: Vendor subvariant, firmware, USB descriptor, cable, sample rate, coordinate frame, calibration, serial and installed selection are not frozen.
Source rows: berkeley-humanoid-lite-humanoid-im10a-alternative
power node
6S LiPo, circuit-breaker and main actuator power-bus boundary
The live BOM publishes one generic 6S LiPo and one circuit breaker; the wiring guide describes a thick main power bus with XT60 trunk and XT30 actuator branches.
Identity boundary: Pack model/capacity/discharge rating, state of charge, breaker rating/curve, fuse strategy, connector part numbers, polarity, bus gauge/length, grounding and measured fault behavior are not frozen.
Source rows: berkeley-humanoid-lite-humanoid-lipo-6s, berkeley-humanoid-lite-humanoid-circuit-breaker, berkeley-humanoid-lite-humanoid-misc-cables-connectors
power node
24→12 V and 12→5 V conversion plus voltage/current monitoring boundary
The live BOM publishes one converter at each named voltage transition and one voltage and current monitor; the current wiring diagram places low-voltage electronics on the robot power architecture.
Identity boundary: Converter and monitor models, ratings, efficiency, isolation, shunt placement, rail allocation, protection, thermal margin and measured output are not frozen; “24 V” must not be read as a measured 6S pack voltage.
Source rows: berkeley-humanoid-lite-humanoid-regulator-24-12, berkeley-humanoid-lite-humanoid-regulator-12-5, berkeley-humanoid-lite-humanoid-voltage-monitor, berkeley-humanoid-lite-humanoid-current-monitor
| From → to | Relation | Published support | Still unresolved |
|---|---|---|---|
| On-board BeeLink N95-class NUC / live-BOM Mini PC boundary → Two generic USB expansion hubsbidirectional | data-controlOn-board USB expansion surface; exact upstream/downstream topology unpublished | The live Humanoid BOM publishes one Mini PC and two USB hubs, while the on-board guide uses the NUC as the Linux host for the robot USB-CAN and IMU paths.Berkeley Humanoid Lite official GitBook observed 2026-08-13; live documentation and live BOM are not cryptographically bound to release v1.1.0 | The official text does not publish which host ports feed which hubs, whether either hub is powered, cable identities, device bandwidth allocation or a unit-level USB tree. RCI has not enumerated the USB topology.Physical validation: none. |
| Two generic USB expansion hubs → Four generic USB-CAN adapters / can0–can3 transport boundarybidirectional | data-controlFour USB-CAN device paths exposed as can0–can3; hub allocation unpublished | The live BOM publishes two hubs and four USB-CAN adapters; the on-board guide says two arms and two legs connected together appear as can0, can1, can2 and can3.Berkeley Humanoid Lite official GitBook observed 2026-08-13; live documentation and live BOM are not cryptographically bound to release v1.1.0 | Hub-to-adapter pairing, persistent Linux names, USB serials, adapter firmware, termination and exact limb-to-port mapping are not frozen. RCI has not observed can0–can3 or captured any frame.Physical validation: none. |
| Four generic USB-CAN adapters / can0–can3 transport boundary → Ten M6C12 actuator positions with B-G431B-ESC1 and AS5600 module boundarybidirectional | data-control1 Mbit/s CAN control/feedback to M6C12 module positions | The official setup initializes SocketCAN at 1,000,000 bit/s and addresses actuator IDs through USB-CAN; the live BOM publishes the M6C12 positions and the per-module B-G431B-ESC1 controller.Berkeley Humanoid Lite official GitBook observed 2026-08-13; live documentation and live BOM are not cryptographically bound to release v1.1.0 | Per-limb bus membership, node IDs, termination, harness length, bus load, firmware/configuration hashes, watchdog state, calibration and error-frame history are not frozen. RCI has not pinged, commanded or measured an M6C12 module.Physical validation: none. |
| Four generic USB-CAN adapters / can0–can3 transport boundary → Twelve 5010 actuator positions with B-G431B-ESC1 and AS5600 module boundarybidirectional | data-control1 Mbit/s CAN control/feedback to 5010 module positions | The official setup initializes SocketCAN at 1,000,000 bit/s and addresses actuator IDs through USB-CAN; the live BOM publishes the 5010 positions and the per-module B-G431B-ESC1 controller.Berkeley Humanoid Lite official GitBook observed 2026-08-13; live documentation and live BOM are not cryptographically bound to release v1.1.0 | Per-limb bus membership, node IDs, termination, harness length, bus load, firmware/configuration hashes, watchdog state, calibration and error-frame history are not frozen. RCI has not pinged, commanded or measured a 5010 module.Physical validation: none. |
| On-board BeeLink N95-class NUC / live-BOM Mini PC boundary → Original BNO085 plus Arduino Nano-to-host IMU pathsource-to-target | data-controlOriginal BNO085 → Arduino Nano → host path | The current robot-building guide explicitly describes the original IMU path as an Arduino Nano connecting the IMU to the computer.Berkeley Humanoid Lite official GitBook observed 2026-08-13; live documentation and live BOM are not cryptographically bound to release v1.1.0 | Arduino SKU and firmware, BNO085 breakout, signal pinout, USB cable, serial protocol, sample rate, coordinate frame, calibration and timestamp behavior are not frozen. This original path must not be counted together with the recommended IM10A alternative absent one as-built selection.Physical validation: none. |
| On-board BeeLink N95-class NUC / live-BOM Mini PC boundary → Recommended alternative IM10A direct-USB IMU pathsource-to-target | data-controlRecommended alternative IM10A direct USB path | The current guide recommends IM10A because it supports direct USB connection and the live BOM labels it as the alternative IMU option.Berkeley Humanoid Lite official GitBook observed 2026-08-13; live documentation and live BOM are not cryptographically bound to release v1.1.0 | Exact IM10A subvariant, firmware, cable, USB descriptor, sample rate, coordinate frame, calibration and timestamp behavior are not frozen. This alternative must not be represented as simultaneously installed with the original BNO085/Arduino path.Physical validation: none. |
| 6S LiPo, circuit-breaker and main actuator power-bus boundary → Ten M6C12 actuator positions with B-G431B-ESC1 and AS5600 module boundarysource-to-target | powerXT60 main trunk with XT30 actuator branches | The official robot wiring guide describes an XT60 main power bus with XT30 branches to each actuator.Berkeley Humanoid Lite official GitBook observed 2026-08-13; live documentation and live BOM are not cryptographically bound to release v1.1.0 | Pack voltage under load, connector count/rating, branch lengths, current sharing, breaker behavior, inrush, ground return, voltage drop, thermal rise and simultaneous-load margin are not published or measured. RCI has not energized an M6C12 power branch.Physical validation: none. |
| 6S LiPo, circuit-breaker and main actuator power-bus boundary → Twelve 5010 actuator positions with B-G431B-ESC1 and AS5600 module boundarysource-to-target | powerXT60 main trunk with XT30 actuator branches | The official robot wiring guide describes an XT60 main power bus with XT30 branches to each actuator.Berkeley Humanoid Lite official GitBook observed 2026-08-13; live documentation and live BOM are not cryptographically bound to release v1.1.0 | Pack voltage under load, connector count/rating, branch lengths, current sharing, breaker behavior, inrush, ground return, voltage drop, thermal rise and simultaneous-load margin are not published or measured. RCI has not energized a 5010 power branch.Physical validation: none. |
| 6S LiPo, circuit-breaker and main actuator power-bus boundary → 24→12 V and 12→5 V conversion plus voltage/current monitoring boundarysource-to-target | powerProtected source to named 24→12 V / 12→5 V conversion and monitoring surface | The live BOM publishes the battery, breaker, two named conversion stages and monitors, while the official wiring diagram places them on the robot power architecture.Berkeley Humanoid Lite official GitBook observed 2026-08-13; live documentation and live BOM are not cryptographically bound to release v1.1.0 | The documentation does not publish exact converter endpoints, shunt location, rail sequence, connector pinout, grounding, protection coordination or measured voltage/current. A generic “24 V” converter label is not a measurement of the 6S battery, and RCI has not applied power.Physical validation: none. |
| 24→12 V and 12→5 V conversion plus voltage/current monitoring boundary → On-board BeeLink N95-class NUC / live-BOM Mini PC boundarysource-to-target | powerLow-voltage compute-power path; exact rail and connector unpublished | The official wiring diagram and live BOM place the on-board Mini PC on the robot low-voltage power architecture containing the named 24-to-12 and 12-to-5 conversion rows.Berkeley Humanoid Lite official GitBook observed 2026-08-13; live documentation and live BOM are not cryptographically bound to release v1.1.0 | The selected text does not state whether the Mini PC is fed from 12 V or 5 V, nor its connector, current requirement, grounding, startup order, brownout margin or observed load. RCI has not measured or powered the host rail.Physical validation: none. |
52 source items converted into claim-bounded records.
Identity, quantity and installed-hardware boundaries remain separate fields; a generic source label is never promoted to an exact orderable model.
| Source item | Class | Identity | Quantity boundary | Role + unresolved evidence |
|---|---|---|---|---|
| Mini PCHumanoid / Base | computeInstalled / build item | generic-descriptionNo exact identity published | 1 unit1 unit published on the live Humanoid tab; this is not an as-built count. | On-robot or system computeProcessor, memory, storage, enclosure and exact orderable model are not published in the item label. The live sheet is not an immutable release-bound snapshot. |
| LiPo battery 6SHumanoid / Base | powerInstalled / build item | generic-description6S | 1 unit1 unit published on the live Humanoid tab; this is not an as-built count. | Primary mobile power sourceCapacity, discharge rating, connector, protection and exact pack model are not published in the item label. The live sheet is not an immutable release-bound snapshot. |
| USB-CAN adapterHumanoid / Base | controlInstalled / build item | generic-descriptionNo exact identity published | 4 unit4 units published on the live Humanoid tab; this is not an as-built count. | Host-to-actuator CAN interfaceCAN transceiver, connector, firmware and exact hardware revision are not published in the item label. |
| USB hubHumanoid / Base | controlInstalled / build item | generic-descriptionNo exact identity published | 2 unit2 units published on the live Humanoid tab; this is not an as-built count. | USB interface expansionPort count, power mode, bandwidth and exact model are not published in the item label. |
| BNO085Humanoid / Base | sensorInstalled / build item | variant-namedBNO085 | 1 unit1 unit published on the live Humanoid tab; this is not an as-built count. | Primary published inertial-sensing optionBreakout-board vendor, board revision, interface mode and calibration state are not published. |
| IM10AHumanoid / Base | sensorAlternative / not simultaneously installed | variant-namedIM10A | 1 unitOne IM10A is published as an alternative to the BNO085; it must not be counted as simultaneously installed without an as-built selection. | Alternative inertial-sensing optionThe live sheet does not bind BNO085 versus IM10A to one released or as-built configuration. |
| Aluminum extrusion 250 mmHumanoid / Base | mechanical-hardwareInstalled / build item | generic-description250 mm | 2 unit2 units published on the live Humanoid tab; this is not an as-built count. | Base/frame structureThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| Aluminum extrusion 200 mmHumanoid / Base | mechanical-hardwareInstalled / build item | generic-description200 mm | 4 unit4 units published on the live Humanoid tab; this is not an as-built count. | Base/frame structureThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| Aluminum extrusion 150 mmHumanoid / Base | mechanical-hardwareInstalled / build item | generic-description150 mm | 2 unit2 units published on the live Humanoid tab; this is not an as-built count. | Base/frame structureThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| Aluminum extrusion 100 mmHumanoid / Base | mechanical-hardwareInstalled / build item | generic-description100 mm | 3 unit3 units published on the live Humanoid tab; this is not an as-built count. | Base/frame structureThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| Aluminum inner bracketHumanoid / Base | mechanical-hardwareInstalled / build item | generic-descriptionNo exact identity published | 24 unit24 units published on the live Humanoid tab; this is not an as-built count. | Extrusion-frame joint hardwareThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| 24V to 12V regulatorHumanoid / Base | powerInstalled / build item | generic-description24 V input to 12 V output | 1 unit1 unit published on the live Humanoid tab; this is not an as-built count. | Intermediate power conversionCurrent rating, efficiency, isolation, connector and exact model are not published. |
| 12V to 5V regulatorHumanoid / Base | powerInstalled / build item | generic-description12 V input to 5 V output | 1 unit1 unit published on the live Humanoid tab; this is not an as-built count. | Low-voltage power conversionCurrent rating, efficiency, isolation, connector and exact model are not published. |
| Voltage monitorHumanoid / Base | sensorInstalled / build item | generic-descriptionNo exact identity published | 1 unit1 unit published on the live Humanoid tab; this is not an as-built count. | Power-rail voltage monitoringRange, accuracy, interface and exact model are not published. |
| Current monitorHumanoid / Base | sensorInstalled / build item | generic-descriptionNo exact identity published | 1 unit1 unit published on the live Humanoid tab; this is not an as-built count. | System current monitoringRange, shunt specification, accuracy, interface and exact model are not published. |
| Circuit breakerHumanoid / Base | powerInstalled / build item | generic-descriptionNo exact identity published | 1 unit1 unit published on the live Humanoid tab; this is not an as-built count. | Primary circuit protectionTrip curve, voltage/current rating, poles and exact model are not published. |
| Misc — FastenersHumanoid / Base | fastenerInstalled / build item | generic-descriptionNo exact identity published | 1 unitThe live sheet publishes quantity 1 for a generic “Misc / Fasteners” row; this is one unresolved group, not evidence of one physical fastener. | Grouped base/frame fastenersFastener types, dimensions, materials, finishes and counts are not published. |
| Misc — Cables & connectorsHumanoid / Base | cableInstalled / build item | generic-descriptionNo exact identity published | 1 unitThe live sheet publishes quantity 1 for a generic cable-and-connector group; it is not a count of one cable. | Grouped base electrical interconnectsCable types, lengths, wire gauges, connector identities and counts are not published. |
| M6C12 actuatorsHumanoid / Legs | actuationInstalled / build item | variant-namedM6C12 actuator | 8 unit8 units published on the live Humanoid tab; this is not an as-built count. | Leg-joint actuationThe live sheet does not bind eight physical actuator serials or revisions to one robot. |
| 5010 actuatorsHumanoid / Legs | actuationInstalled / build item | variant-named5010 actuator | 4 unit4 units published on the live Humanoid tab; this is not an as-built count. | Leg-joint actuationThe live sheet does not bind four physical actuator serials or revisions to one robot. |
| 3D print filamentHumanoid / Legs | materialInstalled / build item | generic-descriptionNo exact identity published | 1 unitThe live sheet publishes quantity 1 without a mass, spool-size or print-yield boundary. | Leg structural print materialMaterial type, mass, color, print parameters and per-part allocation are not published. |
| 6803-2RSHumanoid / Legs | bearingInstalled / build item | variant-named6803-2RS | 6 unit6 units published on the live Humanoid tab; this is not an as-built count. | Leg pitch-linkage bearingThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| M6C12 actuatorsHumanoid / Arms | actuationInstalled / build item | variant-namedM6C12 actuator | 2 unit2 units published on the live Humanoid tab; this is not an as-built count. | Arm-joint actuationThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| 5010 actuatorsHumanoid / Arms | actuationInstalled / build item | variant-named5010 actuator | 8 unit8 units published on the live Humanoid tab; this is not an as-built count. | Arm-joint actuationThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| Servo motor clawHumanoid / Arms | actuationInstalled / build item | generic-descriptionNo exact identity published | 2 unit2 units published on the live Humanoid tab; this is not an as-built count. | End-effector actuationServo model, torque, voltage, interface and claw mechanism are not published in the item label. |
| 3D print filamentHumanoid / Arms | materialInstalled / build item | generic-descriptionNo exact identity published | 1 unitThe live sheet publishes quantity 1 without a mass, spool-size or print-yield boundary. | Arm structural print materialMaterial type, mass, color, print parameters and per-part allocation are not published. |
| MR106-2RSM6C12 Actuator / Bearing | bearingInstalled / build item | variant-namedMR106-2RS | 13 unit13 units published for one M6C12 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Bearing between input shaft and cycloidal disk, and between input shaft and output shaftThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| 6701-2RSM6C12 Actuator / Bearing | bearingInstalled / build item | variant-named6701-2RS | 2 unit2 units published for one M6C12 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Bearing between cycloidal disk and output shaftThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| 6811ZZM6C12 Actuator / Bearing | bearingInstalled / build item | variant-named6811ZZ | 2 unit2 units published for one M6C12 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Bearing between output shaft and housingThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| M3 x 55 mmM6C12 Actuator / Fastener | fastenerInstalled / build item | variant-namedM3 x 55 mm | 8 unit8 units published for one M6C12 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Mounting housingThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| M3 x 30 mmM6C12 Actuator / Fastener | fastenerInstalled / build item | variant-namedM3 x 30 mm | 6 unit6 units published for one M6C12 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Mounting output shaftThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| M2 x 3 x 3.5 mmM6C12 Actuator / Fastener | fastenerInstalled / build item | variant-namedM2 x 3 x 3.5 mm | 4 unit4 units published for one M6C12 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | M2 threaded insert for mounting encoderThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| M3 x 4 x 5 mm insertM6C12 Actuator / Fastener | fastenerInstalled / build item | variant-namedM3 x 4 x 5 mm insert | 24 unit24 units published for one M6C12 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | M3 threaded insertThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| M4 x 15 mm hex standM6C12 Actuator / Fastener | fastenerInstalled / build item | variant-namedM4 x 15 mm hex stand | 1 unit1 unit published for one M6C12 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Input shaft stiffenerThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| MAD Components M6C12 150KVM6C12 Actuator / Motor | actuationInstalled / build item | variant-namedMAD Components · MAD Components M6C12 150KV | 1 unit1 unit published for one M6C12 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Actuator motorThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| PLAM6C12 Actuator / Structural | materialInstalled / build item | variant-namedPLA | 0.12 unit0.12 units published for one M6C12 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | 3D print filament, kgThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| B-G431B-ESC1M6C12 Actuator / Electrical | controlInstalled / build item | variant-namedB-G431B-ESC1 | 1 unit1 unit published for one M6C12 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Motor controllerThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| AS5600M6C12 Actuator / Electrical | sensorInstalled / build item | variant-namedAS5600 | 1 unit1 unit published for one M6C12 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | I2C position encoderThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| Misc — Cables & connectorsM6C12 Actuator / Electrical | cableInstalled / build item | generic-descriptionNo exact identity published | 1 unit1 unit published for one M6C12 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Grouped actuator electrical interconnectsCable types, lengths, wire gauges, connector identities and counts are not published. |
| MR106-2RS5010 Actuator / Bearing | bearingInstalled / build item | variant-namedMR106-2RS | 13 unit13 units published for one 5010 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Bearing between input shaft and cycloidal disk, and between input shaft and output shaftThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| 6701-2RS5010 Actuator / Bearing | bearingInstalled / build item | variant-named6701-2RS | 2 unit2 units published for one 5010 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Bearing between cycloidal disk and output shaftThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| 6809ZZ5010 Actuator / Bearing | bearingInstalled / build item | variant-named6809ZZ | 2 unit2 units published for one 5010 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Bearing between output shaft and housingThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| M3 x 55 mm5010 Actuator / Fastener | fastenerInstalled / build item | variant-namedM3 x 55 mm | 4 unit4 units published for one 5010 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Mounting housingThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| M3 x 25 mm5010 Actuator / Fastener | fastenerInstalled / build item | variant-namedM3 x 25 mm | 6 unit6 units published for one 5010 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Mounting output shaftThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| M2 x 3 x 3.5 mm5010 Actuator / Fastener | fastenerInstalled / build item | variant-namedM2 x 3 x 3.5 mm | 4 unit4 units published for one 5010 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | M2 threaded insert for mounting encoderThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| M3 x 4 x 5 mm insert5010 Actuator / Fastener | fastenerInstalled / build item | variant-namedM3 x 4 x 5 mm insert | 24 unit24 units published for one 5010 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | M3 threaded insertThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| M4 x 12 mm hex stand5010 Actuator / Fastener | fastenerInstalled / build item | variant-namedM4 x 12 mm hex stand | 1 unit1 unit published for one 5010 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Input shaft stiffenerThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| MAD Components 5010 110KV5010 Actuator / Motor | actuationInstalled / build item | variant-namedMAD Components · MAD Components 5010 110KV | 1 unit1 unit published for one 5010 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Actuator motorThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| PLA5010 Actuator / Structural | materialInstalled / build item | variant-namedPLA | 0.1 unit0.1 units published for one 5010 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | 3D print filament, kgThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| B-G431B-ESC15010 Actuator / Electrical | controlInstalled / build item | variant-namedB-G431B-ESC1 | 1 unit1 unit published for one 5010 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Motor controllerThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| AS56005010 Actuator / Electrical | sensorInstalled / build item | variant-namedAS5600 | 1 unit1 unit published for one 5010 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | I2C position encoderThe live Google Sheet is mutable and is not an immutable BOM snapshot tied to Berkeley Humanoid Lite v1.1.0. No unit-level as-built manifest confirms this exact item, supplier or revision on one physical robot. |
| Misc — Cables & connectors5010 Actuator / Electrical | cableInstalled / build item | generic-descriptionNo exact identity published | 1 unit1 unit published for one 5010 actuator module; RCI does not silently multiply it by the whole-robot actuator count. | Grouped actuator electrical interconnectsCable types, lengths, wire gauges, connector identities and counts are not published. |
Every conclusion returns to a selected source.
Links point to the responsibility party's material. RCI does not republish third-party BOM rows, CAD or retailer content through this profile.
Berkeley Humanoid Lite materials and parts BOM ↗
Official documentation page linking the public BOM sheet
Berkeley Humanoid Lite public BOM spreadsheet ↗
Humanoid, M6C12 Actuator and 5010 Actuator line items, quantities, regional links and formulas
Live sheet verified 2026-08-10; no immutable public revision selectedBerkeley Humanoid Lite v1.1.0 release ↗
Release boundary, missing-BOM-part fixes and V2 exploration note
Tag v1.1.0 · commit aa93e47 · 2025-09-07Berkeley Humanoid Lite repository ↗
CAD, PCB, software and split code/asset license statements
Correction path
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