Tokyo Robotics Torobo

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Torobo is Tokyo Robotics' full-body humanoid, built at roughly human scale — 1,615 mm tall on a 590 mm cart, about 120 kg — so that it can work in rooms designed for people and do research that transfers to real jobs. Each arm carries 7 kg even in its worst-case holding posture, which is the figure that matters when an arm is stretched out rather than tucked in. The joint layout follows a person: seven axes per arm, three at the waist (two pitch and a yaw), three in the neck (yaw, pitch, roll) and a four-axis omni-directional base, so it can reach and reposition much as a human would. Every joint in the arms and waist carries a torque sensor, and the robot is controlled by joint torque rather than position alone. That is what allows safe contact stops and genuine force control — assembly, cooking, physical interaction with people — instead of a machine that must avoid touching anything. It is ROS-compatible, with the same program running the robot in Gazebo and in reality, and MoveIt trajectory planning and self-interference detection come as standard. The head is optional in two versions, the sensor-equipped one carrying a wide-angle stereo camera, a fisheye, a ToF depth camera, stereo microphones and a speaker, with a second onboard PC (Nvidia RTX) for the perception work. A built-in battery gives about 3 hours, and it can run while charging.

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