Zeno

A man with a young toddler on his lap interact with a small humanoid robot sitting on top of a desk.
David Hanson with his son Zeno and his robot Zeno, in 2007. Photo: Tony Gutierrez/AP

Zeno is a small humanoid with an expressive face and conversational AI. It's designed as a platform for human-robot interaction research, particularly for diagnosis and treatment of autism spectrum disorder.

Creator

Hanson Robotics

Year
2007
Country
United States 🇺🇸
Categories
Features
Zeno helps autistic children learn social skills. Video: ITV News

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Appearance

Neutral

Did you know?

Zeno was inspired by a character named David, from a famous 1969 short story by Brian Aldiss called "Supertoys Last All Summer Long."

Close-up of humanoid robot with an expressive face, green eyes, flesh-like skin, and brown spiky hair
Zeno's Frubber face can express a wide range of emotions. Photo: Tony Gutierrez/AP
A smiling child waves while wearing a full body black suit and hat next to small humanoid robot on a platform.
Using a motion-capture system to interact with Zeno. Photo: Max Faulkner/Fort Worth Star-Telegram/MCT/Getty Images

Specs

Overview

Full range of facial expressions using proprietary biomimetic skin Frubber and network of actuators that mimic human facial muscles. Face tracking and conversational AI. Walking capability.

Status

Ongoing

Year

2007

Website
Height
63.5 cm
Weight
6.5 kg
Speed
3.6 km/h
Sensors

Two 720p, 30fps HD cameras (one in each motorized eye). Three-axis gyroscope, three-axis accelerometer, compass. Twenty one joint load sensors, 30 joint position sensors, two cliff sensors, two ground contact sensors, two infrared obstacle-detection sensors, two bump sensors (feet), grip-load sensors in the hands. Three microphones.

Actuators

Three Cirrus CS-101 STD 4-gram micro servos. Five Hitec HS-65MG motors (Frubber actuators). Dynamixel RX-64 (legs, hips, shoulders). Dynamixel RX-28 servos (waist).

Degrees of Freedom (DoF)
36 (Arms: 12 DoF; Legs: 12 DoF; Waist: 1 DoF; Neck: 3 DoF; Face: 8 DoF)
Materials

Frubber, plastic, and aluminum

Compute

1 GHz Vortex86DX CPU, 1 GB RAM, Wi-Fi, Ethernet

Software

Linux Ubuntu

Power

Two 18.5-V lithium-ion batteries, 1 hour of operation

Cost
$14,750