Surena 4
Surena 4
University of TehranUnknown
Research platformType
Humanoid Robots
Status
Research platform
Release Date
2019
Warranty
Unknown
Location
Iran
Last Verified
2026-07-02
1.7 m
Height
68 kg
Weight
Unknown
Payload
Surena 4 is a humanoid robot platform designed to study bipedal locomotion, manipulation, and AI. The latest generation in a series of humanoid models, this version can walk on uneven terrain and grasp objects with force control, including a pen used to write its name. It's also used to provide entertainment at special events and to attract students to careers in engineering.
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Specifications
Basic Information
Country
Iran
Manufacturer
University of Tehran
Release Date
2019
Robot Type
Humanoid robot
Body Specifications
Height
1.7 m
Length
35 cm
Material
Core structure: AZ91 magnesium alloy, aluminum, carbon fiber. Exterior: 3D printed shell.
Weight
68 kg
Width
55 cm
Performance
Walking Speed
0.1944 m/s
Degrees of Freedom
Total DOF
43 DOF
Mechanical Structure
Actuator Model
21 custom actuators (harmonic drive, frameless flat high torque motors, incremental and absolute encoders), 10 mini servo actuators, 12 micro servo actuators.
Sensors
Sensors
Cameras, gyroscope, accelerometers, inertial measurement unit (IMU), 6-axis force-torque sensors, motor absolute and incremental encoders, current sensors, foot contact sensors, microphone.
Compute Platform
Onboard Compute
Intel Core i7 2.8 GHz CPU. GTX 1060 6 GB GDDR5 GPU. FPGA and microcontrollers.
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