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CHARLI
CHARLI
Last updated: August 29, 2026
Locomotion Type
Biped
Stage
Demo
Height
141 cm
Degrees of Freedom
25 DOF
Weight
12.1 kg
Max Speed
1.4 km/h
Release Year
2010
Sensors
3-axis rate gyro; 3-axis accelerometer; head camera(s); joint position encoders.
RoMeLa's CHARLI is a full-size autonomous humanoid research robot. The CHARLI-2 revision has 25 DOF, weighs 12.1 kg, walks at 1.4 km/h, and uses Dynamixel actuators, IMU-based feedback, joint encoders and head cameras. It can walk omnidirectionally, turn, kick, gesture and perform simple upper-body manipulation.
Application Scenarios
Bipedal walking and balance research; comparison of leg, actuator and structural configurations; autonomous RoboCup soccer; kicking, gestures and simple manipulation experiments.
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