Agility Cassie vs UC Berkeley Humanoid Lite
Generated from the registry · revision 2026-09-26 · openness out of 100
Cassie has 12 fewer degrees of freedom (10 vs 22) than Berkeley Humanoid Lite. Openness score: Cassie 20, Berkeley Humanoid Lite 100 (of 100); only Berkeley Humanoid Lite publishes CAD, BOM, FW, SW and POL. Availability: Cassie research only, Berkeley Humanoid Lite diy build.
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Side by side
■ rows differ| Field | Agility RoboticsAgility Cassie | UC Berkeley Hybrid Robotics LabUC Berkeley Humanoid Lite | Δ first − second |
|---|---|---|---|
| Identity | |||
| Maker (differs) | Agility Robotics | UC Berkeley Hybrid Robotics Lab | |
| Class (differs) | Biped | Humanoid | |
| Status (differs) | Discontinued | Research | |
| Availability (differs) | Research only | DIY build | |
| Country | United States | United States | |
| Year (differs) | 2017 | 2025 | |
| Specifications | |||
| Height | —unsourced | 80cm | |
| Mass | —unsourced | 16kg | |
| Degrees of freedom (differs) | 10 | 22 | −12 (-55%) |
| Payload | —unsourced | —unsourced | |
| Top speed | —unsourced | —unsourced | |
| Runtime | —unsourced | —unsourced | |
| Battery capacity | —unsourced | —unsourced | |
| Price | Not for sale | —unsourced | |
| Actuators | —unsourced | BLDC motors with 3D-printed cycloidal gearboxes | |
| Compute | —unsourced | —unsourced | |
| Sensors | —unsourced | —unsourced | |
| Openness and provenance | |||
| Openness bar | |||
| Openness score (differs) | 20/ 100 | 100/ 100 | −80 |
| CAD (25) (differs) | not public | public | |
| Bill of materials (20) (differs) | not public | public | |
| Sim model (URDF/MJCF) (20) | public | public | |
| Firmware (15) (differs) | not public | public | |
| Software (10) (differs) | not public | public | |
| Trained policies (10) (differs) | not public | 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 Lite.
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