The Metal Actuator Built for Berkeley Lite & ALOHA

The Berkeley Humanoid Lite is an amazing open-source project, but let’s be honest: 3D-printed plastic gears are fragile and hard to maintain.

We got tired of stripped gears, so we designed the Starfruit Actuator. Instead of printing two different vulnerable plastic joints for your robot, this single, unified full-metal design replaces both specifications perfectly. It simplifies your BOM, drastically increases reliability, and stays cost-effective.

Final Specifications:

• Mechanism: Full CNC Metal Cycloidal Drive

• Gear Ratio: 30:1 (30 teeth, 31 pins)

• Encoders: Dual Absolute Encoders (Supports FOC & MIT modes)

• Ecosystem: Fully ODrive-compatible

• Open Source: STEP files, ROS2 nodes, and configs will be 100% open

• Target Price: ~$149

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