Compare humanoids
Pick two to four robots. Every pair also has its own permanent page, 1,326 in total, generated from the same records.
01
Pick robots
52 humanoidsCassie 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.
| 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 | |
03
Best-documented pairs
most sourced fields on both sidesHyperspawn DropbearvsPollen Reachy 211fHyperspawn DropbearvsKepler Forerunner K2 "Bumblebee"11fHyperspawn DropbearvsPUDU D911fKepler Forerunner K2 "Bumblebee"vsPollen Reachy 211fPollen Reachy 2vsPUDU D911fKepler Forerunner K2 "Bumblebee"vsPUDU D911fHyperspawn DropbearvsRainbow Robotics RB-Y110fHyperspawn DropbearvsUnitree G110fRainbow Robotics RB-Y1vsUnitree G110fEngineAI PM01vsHyperspawn Dropbear10fEngineAI PM01vsRainbow Robotics RB-Y110fEngineAI PM01vsUnitree G110fHyperspawn DropbearvsK-Scale K-Bot10fHyperspawn DropbearvsUnitree H1-210fK-Scale K-BotvsRainbow Robotics RB-Y110fK-Scale K-BotvsUnitree G110fPollen Reachy 2vsRainbow Robotics RB-Y110fPollen Reachy 2vsUnitree G110fRainbow Robotics RB-Y1vsUnitree H1-210fUnitree G1vsUnitree H1-210fEngineAI PM01vsK-Scale K-Bot10fEngineAI PM01vsPollen Reachy 210fEngineAI PM01vsUnitree H1-210fFigure 02vsHyperspawn Dropbear10f