Agility Cassie vs UC Berkeley Humanoid
Generated from the registry · revision 2026-09-26 · openness out of 100
Cassie has 2 fewer degrees of freedom (10 vs 12) than Berkeley Humanoid. Openness score: Cassie 20, Berkeley Humanoid 30 (of 100); only Berkeley Humanoid publishes SW. Availability for both: research only.
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Side by side
■ rows differ| Field | Agility RoboticsAgility Cassie | UC Berkeley Hybrid Robotics LabUC Berkeley Humanoid | Δ first − second |
|---|---|---|---|
| Identity | |||
| Maker (differs) | Agility Robotics | UC Berkeley Hybrid Robotics Lab | |
| Class | Biped | Biped | |
| Status (differs) | Discontinued | Research | |
| Availability | Research only | Research only | |
| Country | United States | United States | |
| Year (differs) | 2017 | 2024 | |
| Specifications | |||
| Height | —unsourced | 85cm | |
| Mass | —unsourced | 16kg | |
| Degrees of freedom (differs) | 10 | 12 | −2 (-17%) |
| Payload | —unsourced | —unsourced | |
| Top speed | —unsourced | —unsourced | |
| Runtime | —unsourced | —unsourced | |
| Battery capacity | —unsourced | —unsourced | |
| Price | Not for sale | Not for sale | |
| Actuators | —unsourced | custom 5013/8513/8518/10413 motors, 9:1 planetary, EtherCAT | |
| Compute | —unsourced | Intel i7-1255U onboard PC | |
| Sensors | —unsourced | IMU, joint encoders | |
| Openness and provenance | |||
| Openness bar | |||
| Openness score (differs) | 20/ 100 | 30/ 100 | −10 |
| CAD (25) | not public | not public | |
| Bill of materials (20) | not public | not public | |
| Sim model (URDF/MJCF) (20) | public | public | |
| Firmware (15) | not public | not public | |
| Software (10) (differs) | not public | public | |
| Trained policies (10) | not public | not public | |
| Verification level | L2 | L2 | |
| Sources | 3 | 3 | |
| Last checked | 2026-09-24 | 2026-09-24 | |
A dash is an unsourced figure, not zero. Sources for each robot are listed on its spec sheet: Cassie, Berkeley Humanoid.
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