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COMAN

COMAN

COMAN is a compliant humanoid robot from IIT Italy with 31 DOF, torque-controlled joints, and passive compliance for safe, dynamic walking and human interaction.
Discontinued
Italy
Humanoid
2012
Specifications
Dev Doc
Website
Made by
Fondazione Istituto Italiano di Tecnologia (Italian Institute of Technology)
Software Type
Closed Source
Software Package
Linux with Xenomai real-time kernel. Custom torque and position control algorithms. Whole-body inverse kinematics and impedance control. Safety features including overload protection and emergency stop
Actuators
Over 30 brushless DC motors with torque control, including 14 with series elastic actuators providing passive compliance. These enable smooth, safe, and energy-efficient joint movements.
Compiute
Two onboard PC/104 embedded computers running real-time control software, supplemented by custom DSP joint controllers.
Sensors
Position and torque sensors on all joints Six-axis force/torque sensors on ankles and wrists Inertial measurement unit (IMU) in torso for balance Additional sensors for environment interaction
Max Op. time
120
mins

Robot Brief

COMAN (COmpliant huMANoid) is a humanoid robot designed to safely and robustly interact with humans and complex environments by incorporating compliant joints and torque sensing. Developed by the Advanced Robotics Department at IIT in Genoa, Italy, and first introduced in 2012, COMAN evolved from earlier projects like iCub and cCub. It features over 30 torque-controlled brushless DC motors, with 14 key actuators incorporating passive series elastic elements for hybrid active/passive compliance. This design allows COMAN to absorb impacts, maintain balance on uneven terrain, and safely interact with people, even in the event of collisions. The robot is equipped with position and torque sensors on every joint, six-axis force/torque sensors on ankles and wrists, and an inertial measurement unit (IMU) in the torso. COMAN is part of the EU-funded AMARSi project focused on whole-body manipulation, locomotion, and safe human-robot interaction. It weighs 33 kg, stands 95 cm tall (neck height), and can walk at speeds up to 2.5 km/h.

Use Cases

COMAN performs compliant bipedal locomotion, balancing and walking on uneven surfaces while reacting safely to external forces and collisions. Its compliant joints enable dynamic motions such as jumping and running, while its torque control allows it to interact safely with humans and objects. The robot is designed for research into whole-body manipulation, locomotion, and human-robot collaboration.

Industries

  • Research & Development: Platform for studying compliant humanoid locomotion and manipulation.
  • Human-Robot Interaction: Safe physical interaction with humans in shared environments.
  • Robotics Education: Demonstrating compliant control and dynamic motion.
  • Rescue Robotics: Potential for dynamic, robust operation in unstructured environments.

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Specifications

Length
205
mm
Width
410
mm
Height (ResT)
mm
Height (Stand)
-
950
mm
Height (Min)
mm
Height (Max)
mm
Weight (With Batt.)
-
kg
Weight (NO Batt.)
-
33
kg
Max Step Height
-
mm
Max Slope
+/-
-
°
Op. Temp (min)
-
°C
Op. Temp (Max)
-
°C
Ingress Rating
-
No items found.

Intro

COMAN is a 95 cm tall, 33 kg humanoid robot with 31 degrees of freedom: 2 DOF neck, 7 DOF per arm, 3 DOF waist, and 6 DOF per leg. Its aluminum skeleton and titanium torso house over 30 torque-controlled brushless DC motors, with 14 actuators featuring series elastic elements for compliance. The robot includes force/torque sensors on ankles and wrists, and an IMU in the torso for balance and state estimation. It runs on two onboard PC/104 embedded computers with custom DSP joint controllers, operating under Linux with the Xenomai real-time framework. COMAN can stabilize itself on uneven terrain, handle pushes, and walk at speeds up to 2.5 km/h.

Connectivity

  • Embedded PC/104 computers for control and communication.
  • Real-time joint control with custom DSP boards.
  • Ethernet and serial interfaces for data exchange.

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Capabilities

  • Compliant, torque-controlled joints for safe interaction and impact absorption.
  • Bipedal walking on uneven terrain with balance recovery.
  • Force/torque sensing for whole-body control and manipulation.
  • Dynamic motions including jumping and running.
  • Autonomous stabilization when pushed or disturbed.
  • Modular design with removable limbs and covered joints for safety.

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