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Surena 4
Surena 4
Last updated: September 2, 2026
Locomotion Type
Biped
Stage
Demo
Height
170 cm
Degrees of Freedom
43 DOF
Weight
68 kg
Max Speed
0.7 km/h
Release Year
2019
Computing
Intel Core i7 2.8 GHz CPU. GTX 1060 6 GB GDDR5 GPU. FPGA and microcontrollers. Ubuntu Linux OS, C++ and Python control application, ROS , Gazebo , and Choreonoid simulation software. Github repository .
Sensors
Cameras, gyroscope, accelerometers, inertial measurement unit (IMU), 6-axis force-torque sensors, motor absolute and incremental encoders, current sensors, foot contact sensors, microphone.
Surena 4 is the fourth-generation Surena humanoid by University of Tehran (2019), about 170 cm / 68 kg with 43 DOF, capable of bipedal walking, stair climbing, object manipulation and face tracking.
Application Scenarios
Humanoid robotics research and demonstrations.
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