University of ZurichRoboy
Roboy 2.0
Unknown
PrototypeType
Humanoid Robots
Status
Prototype
Release Date
2018
Warranty
Unknown
Location
Switzerland
Last Verified
2026-07-28
1.42 m
Height
80 kg
Weight
Unknown
Payload
Roboy is an open-source humanoid robot with 3D-printed parts, tendon muscles, 48 motors and ROS.
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Specifications
Body Specifications
Height
1.42 m
Locomotion Type
Legs designed for tricycle riding
Weight
80 kg
Degrees of Freedom
DOF per Arm
6 DoF per arm
Head DOF
3 DoF
DOF per Leg
4 DoF per hip/leg side
Total DOF
28 DoF
Waist DOF
3 DoF for spine and chest
Mechanical Structure
Actuator Model
48 brushless DC motors
Dexterous Hand
20 DoF per hand and 20 forearm servo motors
Internal Wiring
Tendon-driven motor units with internal electronics
Joint Count
48 motor units
Joint Encoder
Motor encoder and magnetic angle sensors
Joint Sensor Type
Encoder, magnetic angle and spring-deflection sensors
Sensors
Camera
ZED stereo camera in the head
Force/Torque Sensor
Force and tension sensors
Sensors
Force/tension sensors in most motors
Battery and Runtime
Battery Voltage
24 V motor drive
Compute Platform
Onboard Compute
Odroid UX3 and FPGA motor control
Operating System
Ubuntu, Festival, OpenCV, MPlayer and C++ software
Interaction and Communication
Communication
ROS messages and services over FPGA control
Microphone
8 microphones in the Matrix Creator
Development and Expansion
Operating Modes
Position, speed and force control modes
Secondary Development (SDK)
Open-source hardware and software with ROS interface
Teleoperation
Vive lighthouse tracking and teleoperation research
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