| Specification | |||
|---|---|---|---|
| Basic Info | |||
| Name | COMAN | iCub | R1 |
| Company | IIT | IIT | IIT |
| Release Year | 2011 | 2004 | 2015 |
| Stage | Demo | Demo | Demo |
| Locomotion | Biped | Biped | Wheeled |
| Physical Specs | |||
| Height (cm) | 95 | 104 | 130 |
| Weight (kg) | 31 | 33 | 51 |
| Total DOF | - | 53 | - |
| Hand DOF | - | 9 | 4 |
| Performance | |||
| Max Speed (km/h) | - | - | 2.16 |
| Dual-Arm Payload (kg) | - | - | 3 |
| Battery (h) | - | - | 3 |
| Computing Platform | - | Intel Core i7-7600, 4 GB RAM, 32 GB SSD; Ubuntu LTS 64-bit; YARP 3 with ROS interface. | 2 Nano-ITX Intel Core i7 computing units and a MYIR Xilinx-based Z-turn board; YARP open-source API with ROS interface. |
| Sensors | - | 2 eye cameras; 2 omnidirectional microphones; head IMU with 3-axis gyroscope, accelerometer and geomagnetic sensor; joint encoders; 8 six-axis force-torque sensors; more than 3,000 capacitive tactile sensors on fingertips, palms, arms, chest and optionally legs. | Joint position encoders; accelerometers and gyroscopes on most motor-control boards; pressure-sensitive skin on hands; 2 six-axis arm force-torque sensors; Xtion Pro Live RGB-D sensor; OV580 stereo camera module; 2 microphones; RPLidar laser scanner; hand pressure sensors and joint encoders. |
| Commercial | |||
| Price | - | - | - |
