Humanoid Robot Design

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  1. LOLA, Technical University of Munich (2009, IEEE/ASME Transactions on Mechatronics): System Design and Control of Anthropomorphic Walking Robot LOLA [Publication Page]

    Related: Humanoid Robot LOLA: Design and Walking Control [Paper]

  2. COMAN, IIT, Italy (2013, ICRA): COMpliant huMANoid COMAN: Optimal Joint Stiffness Tuning for Modal Frequency Control [Paper]

  3. TORO, DLR Germany (2014, IEEE Humanoids): Overview of the Torque-Controlled Humanoid Robot TORO [Paper] [IEEE] [Website]

  4. Tiktok Humanoid, Cornell University (2014–2015, Dynamic Walking Conference): [Website]

  5. JAXON, University of Tokyo / JSK (2016): Development of High-Speed and High-Power Humanoid Research Platform JAXON [Paper]

  6. WALK-MAN, IIT, Italy (2017, Journal of Field Robotics): WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments [Paper] [Website]

  7. DRC-HUBO+, KAIST (2018, IEEE Transactions on Robotics): Development of the Humanoid Disaster Response Platform DRC-HUBO+ [Paper] [Website / Videos]

  8. HRP-5P, AIST Japan (2019, IEEE Robotics and Automation Letters): Humanoid Robot HRP-5P: An Electrically Actuated Humanoid Robot With High-Power and Wide-Range Joints [Paper] [Video]

  9. UIUC, Tello Leg (2021, ICRA 2021): The Dynamic Effect of Mechanical Losses of Transmissions on the Equation of Motion of Legged Robots [Paper]

  10. ARDOP (2021, arXiv preprint): ARDOP: A Versatile Humanoid Robotic Research Platform [Paper]

  11. UIUC, Tello Leg (2022, IEEE Robotics and Automation Letters, 7(4)): Tello Leg: The Study of Design Principles and Metrics for Dynamic Humanoid Robots [Paper]

  12. AMI, IIT, Italy, ergoCub Humanoid (2022, Humanoids 2022): Optimization of Humanoid Robot Designs for Human-Robot Ergonomic Payload Lifting [Paper]

  13. MIT Humanoid (2023, Humanoids 2023): Design and Development of the MIT Humanoid: A Dynamic and Robust Research Platform [Paper]

  14. Berkeley Humanoid (2024, arXiv preprint): Berkeley Humanoid: A Research Platform for Learning-based Control [Paper]

  15. PANDORA, Virginia Tech (2024, IEEE Humanoids): PANDORA: The Open-Source, Structurally Elastic Humanoid Robot [Paper]

  16. Musashi, University of Tokyo / JSK (2024, arXiv preprint): Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems [Paper]

  17. Miha Humanoid (2024, IEEE Access): Miha: An Affordable Humanoid Platform for Research and Development [Paper]

  18. Berkeley Humanoid Lite (2025, RSS 2025): Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot [Paper] [Documentation] [Github]

  19. ARTEMIS, UCLA RoMeLa (2025, IEEE Humanoids 2025): ARTEMIS: An Open-Source, Full-sized Humanoid Robot for Dynamic Locomotion [Project Page] [Videos]

  20. ToddlerBot, Stanford (2025, CoRL 2025): ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation [Paper] [Website] [Github] [Videos]

  21. AGILOped, University of Bonn / NimbRo (2025, IEEE ICARM): AGILOped: Agile Open-Source Humanoid Robot for Research [Paper] [Website] [Github / CAD]

  22. KAIST Humanoid, KAIST University, South Korea (2025, IEEE Humanoids): Design of a 3-DOF Hopping Robot with an Optimized Gearbox: An Intermediate Platform Toward Bipedal Robots [Paper] [Video1] [Video2]

Mirrored from topics/mechanical-design/humanoid-robot-design.md in the Legged-Robots repository, where corrections and additions are welcome.