Back to DFKI Robotics Innovation Center
Charlie
Charlie
Last updated: September 2, 2026
Locomotion Type
Hybrid
Stage
Demo
Height
75 cm
Degrees of Freedom
6 DOF
Weight
18 kg
Max Speed
1 km/h
Release Year
2006
Computing
ARM Cortex-A8 and wireless 802.11b/g inside torso. Custom FPGA-based controller on each joint. Linux OS and custom control software with C, C++, and VHDL.
Sensors
Joint position, speed, current, voltage and temperature sensing; foot array with 49 pressure sensors, 3-axis accelerometer, distance sensor, 3 absolute position sensors, temperature sensor and 6-DoF force-torque sensor; spine force sensors; body IMU and battery-voltage sensing.
Charlie is DFKI Robotics Innovation Center's four-legged iStruct demonstrator with an actuated 6-DoF artificial spine and instrumented sensor feet. It supports walking in multiple directions, balancing on slopes and self-righting behaviors optimized with machine learning.
Application Scenarios
Legged locomotion, balance, self-righting and multi-point-contact research for difficult terrain and space-robotics demonstrators.
Subscribe to Weekly Report
Get weekly updates on humanoid robot funding, new companies, and product launches.