Reference

Status of every number

A design release should say which of its numbers are decisions, which are calculations and which are measurements. As of v0.1:

Quantity	Kind	Source
Joint layout, axes, link lengths, part list	decision	`tools/build_data.py`
Actuator torque, Kt, current limit, mass, envelope, mounting and output hole patterns	copied	RobStride user manuals, section 1.1, 2026-07 revision (Product_Information repository)
Actuator prices	copied	Duke V2 team BOM, Amazon US / AiFitLab, 2026-09
Other prices	estimate	Typical US listings, 2026-09; verify before ordering
Printed-part masses	estimate	STL volume × density × fill factor
Self-collision, joint limits	computed	`tools/check_collisions.py`: zero pose, presets, every joint through its range
Robot mass, mass budget	estimate	Sum of the above plus 0.9 kg for fasteners and harness
Torque margins	estimate	Static hand calculations on the design page
Joint limits	decision	Adapted from Duke V2's software limits
Run time, print time, latency, temperatures	unmeasured	Filled in by the roadmap's builds

Full specifications

Joints

#	Joint	Parent → child link	Axis	Limits	Actuator	Bus	ID

Actuators

Model	Qty	Peak N·m	Kt N·m/A	I limit A	Ø × L mm	Mass g	Support bearing

48 V bus, CAN at 1 Mbit/s, MIT-mode control. Over-temperature warning 75 °C, fault 80 °C. Manuals: robstride.com/download.

Files

File	What
`tools/build_data.py`	The model: every part, joint, price. Edit this, run it, everything below regenerates.
`assets/data/robot.json`	Links, joints, part occurrences with primitive shapes, catalogue, poses, specs. Read by the viewer and the tables on this site.
`assets/data/bom.json`	Bill of materials by section and tier.
`assets/model/foh_v0_2.urdf`	Robot description with masses and inertias, primitive geometry.
`assets/print/`	One STL per printed part plus a zip of all of them; `print_files.json` holds sizes, SHA-256, volumes and print orientation.
`tools/build_parts.py`, `tools/check_collisions.py`	STL generator (manifold3d CSG) and the self-collision audit.
`assets/js/robot-viewer.js`	The viewer: builds the robot from `robot.json` with three.js.

Naming

Part IDs: 3DP_ printed, ACT_ actuator, HW_ bearings and metal, EL_ electronics, CB_ cables, MAT_ filament, TL_ tools. Printed IDs continue with a subassembly code (pel, leg, tor, hea, arm, grp) and a two-digit number, then a descriptive name.
Occurrences add the side: knee_L_act, shank_inner_R. Mirrored prints share one part ID.
Joints: hip_pitch_L, knee_R, waist; CAN ID = 10 × limb + index (left leg 11–16, right leg 21–26, left arm 31–35, right arm 41–45, waist 1).
Links are named by the part that carries them: hip_roll_bracket_L, thigh_L, shank_L, ankle_block_L, foot_L.

Licence

Artefact	Licence
Code: this site, `tools/build_data.py`, the viewer, future control and training code	MIT
Hardware design files: the model, URDF, printable files, BOM	CC BY 4.0
Documentation and figures	CC BY 4.0

Maintainer's note. These are the proposed terms for v0.1; the code licence is in LICENSE at the repository root. Both parent projects allow this reuse: Duke Humanoid V2's hardware and documentation are Apache-2.0, Berkeley Humanoid Lite's code is MIT and its assets CC BY-SA 4.0. Nothing from either project's CAD is redistributed here; the numbers reused are cited on the page where they appear.

Citation

@misc{fully_open_humanoid_2026,
  title  = {Fully Open Humanoid: a printable RobStride humanoid derived from Duke Humanoid V2},
  author = {Fully Open Humanoid contributors},
  year   = {2026},
  url    = {https://fullyopenhml.github.io/}
}

Please also cite the two projects this design is built on:

@misc{duke_humanoid_v2,
  title  = {Visible-Reachable Workspace for Perception-Aware Humanoid Design},
  author = {Boxi Xia and Zijiang Yang and Ryan Shin and Bokuan Li and Eric Lu and Jacob Lee and Jiaxun Liu and Boyuan Chen},
  year   = {2026},
  url    = {https://github.com/generalroboticslab/duke_humanoid_v2}
}

@article{chi2025demonstrating,
  title   = {Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot},
  author  = {Yufeng Chi and Qiayuan Liao and Junfeng Long and Xiaoyu Huang and Sophia Shao and Borivoje Nikolic and Zhongyu Li and Koushil Sreenath},
  journal = {arXiv preprint arXiv:2504.17249},
  year    = {2025}
}

Changelog

Date	Version	Change
2026-10-03	v2	The styled design restarted a second time, now as what the Berkeley Humanoid Lite paper draws in its Fig. 5: the extended, adult-sized BHL from BHL's own published parts (aesthetic page, work in progress). `tools/bhl_pieces.py` cuts eleven printed parts out of BHL's link meshes (the actuator modules removed, the arms cut where a tube takes over, the arm links straightened); `tools/build_v2.py` places them on the 1.64 m skeleton with RobStride actuators in their cradles by BHL's module classes (an RS03 at the knee, bored out), carbon tubes on printed socket flanges, our hip stack, a torso cage of BHL's proportion with the shoulder actuators through its sides, the arms hung 10° abducted at the zero pose as BHL's are (joints gained a fixed zero offset for that), and hands. The shape pipeline gained a mesh shape (published parts in the viewer, the audit by surface samples and hulls, boxes in the URDF). Audit clean; MuJoCo stands, crouches and takes 10 N·s. The AI Sapiens K1 study of 2026-10-02 (a fit study and a K1-skeleton build) is withdrawn; the v1a cover shells of 2026-10-01 before it.
2026-10-01	v1	Production design published on its own page: Berkeley Humanoid Lite's extended adult-sized configuration (paper Fig. 5) on RobStride actuators, with carbon-fibre tube links, an RS04 joint kit dimensioned from the RS04 manual, laser-cut plates and Amazing Hands. Generated by `tools/build_v1.py`; collision audit, printable STLs, URDF and MuJoCo check all run on it; added to the catalog and the builder. Fastener lengths are now computed from thread engagement. Corrected in both designs: the elbow axis, whose positive direction bent the forearm backward.
2026-09-25	catalog	Site reframed around a catalog of open humanoids scored on nine openness criteria (29 projects with sources) and a mix-and-match builder that checks joints, buses, payload, scale and software for any combination and returns a merged BOM with prices and sourcing. Our design is listed on the same terms. Generated by `tools/build_catalog.py` from `tools/catalog_src.py` plus the computed subsystems of our design and Duke V2. The builder shows the combination in 3D, composed from each project's published geometry (`tools/build_geometry.py`). Every catalog fact re-checked against primary sources on 2026-09-25; K-Bot, AgiBot X1, Poppy, Open Duck, Zeroth-01, iCub and Duke V2's licence corrected. Form-factor column (humanoid, bimanual, bimanual + mobile, mobile manipulator, legged, arm, hand) and ten more projects; the builder gained SO-ARM101 and OpenArm arms, LEAP and RUKA hands, LeKiwi, TidyBot++ and Solo 12 bases, the XLeRobot cart and head, a licence check and empty lower or torso slots.
2026-09-24	v0.2	Joint kits redesigned on RobStride's measured interfaces (front-lug mounting, output boss with dowels, output support bearing on the coupler). Straight arms on long shoulder brackets, 264 mm hip spacing, pelvis narrowed. Self-collision audit added; knee, elbow, hip-roll and shoulder-roll limits set by geometry. Every printed part released as STL with a manifest. MuJoCo standing, crouch and push check of the URDF (software page).
2026-09-24	v0.1	First design release: kinematics, part list, BOM, wiring, bring-up plan, URDF, interactive model.