diff --git a/CHANGELOG.md b/CHANGELOG.md
index 03cdfe7..8a16fcf 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,10 @@ All notable changes to this project will be documented in this file.
 
 ## [Unreleased]
 
+### Added
+
+- Description: Berkeley Humanoid
+
 ## [1.13.0] - 2024-10-30
 
 ### Added
diff --git a/README.md b/README.md
index ead3aca..4a7a285 100644
--- a/README.md
+++ b/README.md
@@ -211,27 +211,28 @@ The DOF column denotes the number of actuated degrees of freedom.
 
 ### Humanoids
 
-| Name                          | Robot                 | Maker                    | DOF | Format     |
-|-------------------------------|-----------------------|--------------------------|-----|------------|
-| `atlas_drc_description`       | Atlas DRC (v3)        | Boston Dynamics          | 30  | URDF       |
-| `atlas_v4_description`        | Atlas v4              | Boston Dynamics          | 30  | URDF       |
-| `draco3_description`          | Draco3                | Apptronik                | 25  | URDF       |
-| `ergocub_description`         | ergoCub               | IIT                      | 57  | URDF       |
-| `g1_description`              | G1                    | UNITREE Robotics         | 37  | URDF       |
-| `g1_mj_description`           | G1                    | UNITREE Robotics         | 37  | MJCF       |
-| `h1_description`              | H1                    | UNITREE Robotics         | 25  | URDF       |
-| `h1_mj_description`           | H1                    | UNITREE Robotics         | 25  | MJCF       |
-| `icub_description`            | iCub                  | IIT                      | 32  | URDF       |
-| `jaxon_description`           | JAXON                 | JSK                      | 38  | URDF       |
-| `jvrc_description`            | JVRC-1                | AIST                     | 34  | URDF       |
-| `jvrc_mj_description`         | JVRC-1                | AIST                     | 34  | MJCF       |
-| `op3_mj_description`          | OP3                   | ROBOTIS                  | 20  | MJCF       |
-| `r2_description`              | Robonaut 2            | NASA JSC Robotics        | 56  | URDF       |
-| `romeo_description`           | Romeo                 | Aldebaran Robotics       | 37  | URDF       |
-| `sigmaban_description`        | SigmaBan              | Rhoban                   | 20  | URDF       |
-| `talos_description`           | TALOS                 | PAL Robotics             | 32  | URDF       |
-| `talos_mj_description`        | TALOS                 | PAL Robotics             | 32  | MJCF       |
-| `valkyrie_description`        | Valkyrie              | NASA JSC Robotics        | 59  | URDF       |
+| Name                            | Robot                 | Maker                    | DOF | Format     |
+|---------------------------------|-----------------------|--------------------------|-----|------------|
+| `atlas_drc_description`         | Atlas DRC (v3)        | Boston Dynamics          | 30  | URDF       |
+| `atlas_v4_description`          | Atlas v4              | Boston Dynamics          | 30  | URDF       |
+| `berkeley_humanoid_description` | Berkeley Humanoid     | Hybrid Robotics          | 12  | URDF       |
+| `draco3_description`            | Draco3                | Apptronik                | 25  | URDF       |
+| `ergocub_description`           | ergoCub               | IIT                      | 57  | URDF       |
+| `g1_description`                | G1                    | UNITREE Robotics         | 37  | URDF       |
+| `g1_mj_description`             | G1                    | UNITREE Robotics         | 37  | MJCF       |
+| `h1_description`                | H1                    | UNITREE Robotics         | 25  | URDF       |
+| `h1_mj_description`             | H1                    | UNITREE Robotics         | 25  | MJCF       |
+| `icub_description`              | iCub                  | IIT                      | 32  | URDF       |
+| `jaxon_description`             | JAXON                 | JSK                      | 38  | URDF       |
+| `jvrc_description`              | JVRC-1                | AIST                     | 34  | URDF       |
+| `jvrc_mj_description`           | JVRC-1                | AIST                     | 34  | MJCF       |
+| `op3_mj_description`            | OP3                   | ROBOTIS                  | 20  | MJCF       |
+| `r2_description`                | Robonaut 2            | NASA JSC Robotics        | 56  | URDF       |
+| `romeo_description`             | Romeo                 | Aldebaran Robotics       | 37  | URDF       |
+| `sigmaban_description`          | SigmaBan              | Rhoban                   | 20  | URDF       |
+| `talos_description`             | TALOS                 | PAL Robotics             | 32  | URDF       |
+| `talos_mj_description`          | TALOS                 | PAL Robotics             | 32  | MJCF       |
+| `valkyrie_description`          | Valkyrie              | NASA JSC Robotics        | 59  | URDF       |
 
 ### Mobile manipulators
 
diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py
index 12d6b03..ebbbff4 100644
--- a/robot_descriptions/_descriptions.py
+++ b/robot_descriptions/_descriptions.py
@@ -65,6 +65,7 @@ def has_urdf(self) -> bool:
     "b2_description": Description(Format.URDF),
     "barrett_hand_description": Description(Format.URDF),
     "baxter_description": Description(Format.URDF),
+    "berkeley_humanoid_description": Description(Format.URDF),
     "bolt_description": Description(Format.URDF),
     "cassie_description": Description(Format.URDF),
     "cassie_mj_description": Description(Format.MJCF),
diff --git a/robot_descriptions/_repositories.py b/robot_descriptions/_repositories.py
index a53f04b..be83787 100644
--- a/robot_descriptions/_repositories.py
+++ b/robot_descriptions/_repositories.py
@@ -41,6 +41,11 @@ class Repository:
         commit="v1.2.0",
         cache_path="baxter_common",
     ),
+    "berkeley_humanoid_description": Repository(
+        url="https://github.com/HybridRobotics/berkeley_humanoid_description",
+        commit="d0d13d3f81d795480e25ed1910eaf83d5f0a1d0b",
+        cache_path="berkeley_humanoid_description",
+    ),
     "bhand_model": Repository(
         url="https://github.com/jhu-lcsr-attic/bhand_model.git",
         commit="937f4186d6458bd682a7dae825fb6f4efe56ec69",
diff --git a/robot_descriptions/berkeley_humanoid_description.py b/robot_descriptions/berkeley_humanoid_description.py
new file mode 100644
index 0000000..1761e31
--- /dev/null
+++ b/robot_descriptions/berkeley_humanoid_description.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2024 Inria
+
+"""Berkeley Humanoid description."""
+
+from os import getenv as _getenv
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache(
+    "berkeley_humanoid_description",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH)
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "urdf", "robot.urdf")