Torobo

Torobo from Tokyo Robotics represents Japan's contribution to humanoid research platforms, designed specifically to accelerate industrial applications of full-body humanoids. As of July 2025, Tokyo Robotics became a wholly owned subsidiary of Yaskawa Electric Corporation, one of the world's largest industrial robot manufacturers.

Standing 166 cm tall and weighing 160 kg, Torobo prioritizes manipulation capability over lightweight design. The 7-axis dual arms reach 680 mm with 7 kg payload at worst-case posture and up to 20 kg at maximum force. A 3-axis waist, 3-axis neck, and 4-axis omnidirectional mobile base provide human-like range of motion for complex tasks.

Torobo's distinguishing feature is torque sensors in all arm and waist joints, enabling high-performance impedance and force control rarely seen in humanoid platforms. Cartesian coordinate impedance control, ZMP-based fall prevention, interference detection safety stops, and state machines for connecting movements make Torobo suitable for research requiring active contact with people, environments, and objects.

The ROS-based software stack supports RViz visualization, MoveIt! trajectory planning, and comprehensive sensor logging. Models can be tested in Google DeepMind's MuJoCo and NVIDIA Isaac Sim. Optional sensor heads add ToF depth cameras, fisheye cameras, wide-angle stereo cameras, and microphones. Torobo serves as a platform for Japan's Moonshot R&D program researching robots that assist individuals throughout their lifetime, reflecting the nation's focus on addressing its aging population through robotics.