COMAN

Model: COMAN

COMAN (COmpliant huMANoid) is IIT's child-sized compliant biped humanoid research platform developed in the AMARSi project for dynamic walking, whole-body control and safe physical interaction. The original full-robot paper specifies a 945 mm foot-to-neck height, 31.2 kg mass and 25 DoF: 6 per leg, 4 per arm, 3 at the waist and 2 at the neck, with series-elastic actuation at 14 joints. This entry covers the early COMAN, not the later COMAN+, and it was not commercially sold.