A full-size biped humanoid robot built to adult body proportions: 170 cm tall, 65 kg, with 42 degrees of freedom and PUDU DH11 dexterous hands. PUDU's page positions it for object manipulation and customer engagement.

Where it works

Pick and place and tool manipulation, using the two 7-degree-of-freedom arms and DH11 hands.
A wide range of intricate tasks, using the dexterous hands' tactile sensing.
Customer engagement, which PUDU names in the page title.
Lifting loads of up to 20 kg across both arms, measured in a test environment.

Day to day

The D9 stands 170 cm tall, weighs 65 kg and walks at up to 2 m/s. Each arm has 7 degrees of freedom and a 580 mm arm ending in a 220 mm DH11 hand with 12 tactile sensing regions. It carries a 15 Ah battery (0.72 kWh) and a computing platform rated at 275 TOPS. PUDU does not publish a run time, and says some features shown in its promotional material are not yet available to customers and the shipped version may differ.

Specifications

Size and weight

Standing dimensions: Height 170 cm (66.9 in)
Weight: 65 kg (143 lb)
Limb lengths: Thigh 325 mm, calf 383 mm, arm 580 mm, hand 220 mm (12.8 in, 15.1 in, 22.8 in, 8.7 in)
Maximum joint torque: 352 Nm (259.6 lb ft)

Power

Battery: 15 Ah (0.72 kWh)

Work

Degrees of freedom: 42 total; 6 per leg
Arm and hand degrees of freedom: Arm: 7; hand: 6 active and 5 passive (per side)
Maximum load: 20 kg total, 10 kg per arm, test environment (44 lb, 22 lb)
Dexterous hand: PUDU DH11: 11 degrees of freedom (6 motors), 500 g (1.1 lb), 12 tactile sensing regions, 1018 tactile sensor pixels
Hand grip and lift: Maximum palm finger grip 30 N (6.7 lbf); maximum lifting load 40 kg (88 lb)

Navigation and safety

Cruise speed: Maximum walking speed 2 m/s (6.56 ft/s)
Computing: 275 TOPS
Perception: RGB and RGBD cameras, tactile sensors, IMU
Speaker: Stereo

Manufacturer figures from pudurobotics.com. Performance figures are PUDU lab results; results vary by site.

Compare the quadruped and humanoid robots

	PUDU D9	PUDU D5-W	PUDU D7
Job	Full-size biped humanoid robot	Patrol and inspection	Industrial semi-humanoid robot
Run time	not published	2 to 3 h	not published
Charge time	not published	not applicable	not published
Payload	20 kg total, test environment	20 to 30 kg	Up to 14 kg
Weight	65 kg	56 kg	not published
Price	ask Apollo	$70,000	ask Apollo
Lease, 60 months	not listed	$1,596.00 a month	not listed

Coverage and payload are different jobs; a row marked not applicable means the unit is not built for it.

PUDU D9 Full-size biped humanoid robot