Onshape CAD

The baseline CAD model of our course robot is shared on Onshape.

Onshape assembly of the 2026-2 ASMR Humanoid baseline model: a bipedal robot with a rectangular body frame holding the electronics on top of two legs, each with six joints. The assembly tree lists base, Leg L, Leg R, and imu.

The baseline CAD model in Onshape.

Modifying your robot

Teams are welcome to modify their robot, especially the body system.

Keep the two-leg structure the same as the baseline model. Modifications should be made on the rest of the robot, such as the body system.

If you modify your robot, make your own CAD model in Onshape, based on the baseline model above. You will use your team’s CAD model in the next steps, starting with Onshape-to-Robot.

Reference: Berkeley Humanoid Lite CAD

The Berkeley Humanoid Lite CAD model on Onshape is a very good reference when designing your own robot.

Berkeley Humanoid Lite CAD (Onshape)
The CAD models of the 6512 and 5010 actuators are linked from the upstream Releases page, under CAD Models.