From Humanoid Robots Wiki
Humanoids
| 1 |
Stompy |
K-Scale Labs |
URDF |
URDF, MJCF |
MIT |
✔️ |
✔️ |
✔️
|
| 2 |
Digit |
Agility Robotics |
URDF |
URDF |
✖️ |
✔️ |
✔️ |
✔️
|
| 3 |
H1 |
UNITREE Robotics |
MJCF |
MJCF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 4 |
Atlas v4 |
Boston Dynamics |
URDF |
URDF |
MIT |
✔️ |
✔️ |
✔️
|
| 5 |
Valkyrie |
NASA JSC Robotics |
URDF, Xacro |
URDF, Xacro |
NASA-1.3 |
✔️ |
✔️ |
✔️
|
| 6 |
JVRC-1 |
AIST |
MJCF, URDF |
MJCF, URDF |
BSD-2-Clause |
✔️ |
✔️ |
✔️
|
| 7 |
iCub |
IIT |
URDF |
URDF |
CC-BY-SA-4.0 |
✔️ |
✔️ |
✔️
|
| 8 |
JAXON |
JSK |
COLLADA, URDF, VRML |
COLLADA, URDF, VRML |
CC-BY-SA-4.0 |
✔️ |
✔️ |
✔️
|
| 9 |
Atlas DRC (v3) |
Boston Dynamics |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 10 |
Gundam RX-78 |
Bandai Namco Filmworks |
URDF |
URDF |
✖️ |
✔️ |
✔️ |
✔️
|
| 11 |
Romeo |
Aldebaran Robotics |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 12 |
SigmaBan |
Rhoban |
URDF |
URDF |
MIT |
✔️ |
✔️ |
✔️
|
| 13 |
Robonaut 2 |
NASA JSC Robotics |
URDF |
URDF |
NASA-1.3 |
✔️ |
✔️ |
✔️
|
| 14 |
TALOS |
PAL Robotics |
URDF, Xacro |
URDF, Xacro |
LGPL-3.0, Apache-2.0 |
✔️ |
✔️ |
✔️
|
| 15 |
WALK-MAN |
IIT |
Xacro |
Xacro |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 16 |
Draco3 |
Apptronik |
URDF |
URDF |
BSD-2-Clause |
✔️ |
✔️ |
✔️
|
| 17 |
ergoCub |
IIT |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 18 |
Baxter |
Rethink Robotics |
URDF, Xacro |
URDF, Xacro |
Apache-2.0 |
✔️ |
✔️ |
✔️
|
| 19 |
Pepper |
SoftBank Robotics |
URDF |
URDF |
BSD-2-Clause |
✔️ |
✔️ |
✔️
|
| 20 |
Mini-Cheetah |
MIT |
URDF |
URDF |
MIT |
✔️ |
✔️ |
✔️
|
| 21 |
Thor-Mang |
ROBOTIS |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 22 |
Cassie |
Agility Robotics |
URDF |
URDF |
MIT |
✔️ |
✔️ |
✔️
|
| 23 |
Sophia |
Hanson Robotics |
URDF |
URDF |
Apache-2.0 |
✔️ |
✔️ |
✔️
|
| 24 |
Asimo |
Honda |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 25 |
HRP-5P |
Kawada Robotics |
URDF |
URDF |
BSD-2-Clause |
✔️ |
✔️ |
✔️
|
| 26 |
Valkyrie R5 |
NASA |
URDF, Xacro |
URDF, Xacro |
NASA-1.3 |
✔️ |
✔️ |
✔️
|
| 27 |
REEM-C |
PAL Robotics |
URDF |
URDF |
LGPL-3.0 |
✔️ |
✔️ |
✔️
|
| 28 |
Darwin-OP |
ROBOTIS |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 29 |
Poppy |
Inria Flowers |
URDF |
URDF |
GPL-3.0 |
✔️ |
✔️ |
✔️
|
| 30 |
Kengoro |
JSK |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 31 |
SURALP |
Istanbul Technical University |
URDF |
URDF |
GPL-3.0 |
✔️ |
✔️ |
✔️
|
| 32 |
Kengoro |
JSK |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 33 |
ANYmal |
ANYbotics |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 34 |
MIR-Lola |
Munich Institute of Robotics and Machine Intelligence |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 35 |
HSR |
Toyota |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 36 |
Pepper 2 |
SoftBank Robotics |
URDF |
URDF |
BSD-2-Clause |
✔️ |
✔️ |
✔️
|
| 37 |
BHR-4 |
Beijing Institute of Technology |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| 38 |
Tiago |
PAL Robotics |
URDF |
URDF |
BSD-2-Clause |
✔️ |
✔️ |
✔️
|
| 39 |
InMoov |
Gael Langevin |
URDF |
URDF |
GPL-3.0 |
✔️ |
✔️ |
✔️
|
| 40 |
BipedalWalker |
OpenAI Gym |
URDF |
URDF |
MIT |
✔️ |
✔️ |
✔️
|
End Effectors
| Name |
Maker |
Formats |
File |
License |
Meshes |
Inertias |
Collisions
|
| Allegro Hand |
Wonik Robotics |
URDF, MJCF |
URDF, MJCF |
BSD |
✔️ |
✔️ |
✔️
|
| Shadow Hand E3M5 |
The Shadow Robot Company |
MJCF |
MJCF |
Apache-2.0 |
✔️ |
✔️ |
✔️
|
| Robotiq 2F-85 |
Robotiq |
MJCF, URDF, Xacro |
MJCF, URDF, Xacro |
BSD-2-Clause |
✔️ |
✔️ |
✔️
|
| BarrettHand |
Barrett Technology |
URDF |
URDF |
BSD |
✖️ |
✔️ |
✔️
|
| WSG 50 |
SCHUNK |
SDF |
SDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| Baxter Left End Effector |
Rethink Robotics |
URDF, Xacro |
URDF, Xacro |
Apache-2.0 |
✔️ |
✔️ |
✔️
|
| Baxter Right End Effector |
Rethink Robotics |
URDF, Xacro |
URDF, Xacro |
Apache-2.0 |
✔️ |
✔️ |
✔️
|
Educational
| Name |
Formats |
File |
License |
Meshes |
Inertias |
Collisions
|
| Double Pendulum |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
| Simple Humanoid |
URDF |
URDF |
BSD-2-Clause |
✔️ |
✔️ |
✖️
|
| TriFingerEdu |
URDF |
URDF |
MIT |
✔️ |
✔️ |
✔️
|
| FingerEdu |
URDF |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️
|
References
