COMAN

A bipedal robot with a blue torso casing and grey arms and legs walks on a thin wooden plank.
COMAN walks the plank. Photo: Agnese Abrusci/IIT

COMAN is a humanoid robot designed to safely interact with people. Unlike most humanoids, it doesn't have stiff joints: Its arms and legs can sense applied forces and move in a compliant way.

Creator

Italian Institute of Technology (IIT)

Year
2012
Country
Italy šŸ‡®šŸ‡¹
Categories
Features
Meet COMAN. Video: IIT

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Appearance

Neutral

Did you know?

COMAN stands for COmpliant huMANoid.

View of the electronics, sensors, and wires inside the robot.
A look inside the robot. Photo: Agnese Abrusci/IIT

History

COMAN evolved from two other humanoid projects: iCub (2007) and cCub (2010). The original iCub was a traditional position controlled humanoid, and cCub was a compliant biped. For COMAN, the goal was to create a robot that could safely interact with objects and people, even in the event of a collision. To achieve that, torque sensors were incorporated into each of the motors, providing active torque control. Passive series elastic elements were also built into 14 of the key actuators to provide hybrid active/passive control. COMAN is part of the European Union-funded AMARSi project to advance whole-body manipulation, locomotion, and safe human-robot interaction.

A robotic leg standing on a white background.
The leg uses a novel actuation mechanism. Photo: Agnese Abrusci/IIT

Specs

Overview

Equipped with torque and position control of all joints. Able to stabilize itself on uneven terrain or when pushed around.

Status

Inactive

Year

2012

Website
Width
41 cm
Height
95 cm (height at neck)
Length
20.5 cm
Weight
33 kg
Speed
2.5 km/h
Sensors

Position and torque sensing on every joint. Six-axis force/torque sensing on ankles and wrists. Inertial measurement unit (IMU) in the torso.

Actuators

Over 30 torque-controlled brushless DC motors, including 14 custom series elastic elements for enhanced compliance.

Degrees of Freedom (DoF)
31 (Neck: 2 DoF; Arm: 7 DoF x 2; Waist: 3 DoF; Leg: 6 DoF x 2)
Materials

Aluminum skeletal structure. ABS plastic casing. Titanium torso.

Compute

Two on-board PC/104 embedded computers and custom DSP joint controller.

Software

Linux with Xenomai real time framework

Power

29-V lithium ion polymer battery, 2 hours of operation