Design of the Humanoid Robot TOCABI

A long-term project designing a life-size humanoid robot for use in dynamic robotics control.


The rapidly improving mechanical systems and control algorithms of humanoid robots brings them ever-closer to integration with humans in-situ. As this trend begins a process of research robots to general products, the dissemination of design decisions and application-specific compromises becomes as equally important as the underlying technology itself. Like-wise, the newly discovered applications and societal integration raise new questions for research, including how a humanoid robot should look – and what technological innovations are needed to support such look. While the uncanny valley is often the forefront of humanoid robot design discussions, we present a new full-size humanoid robot named TOCABI, that side-steps the valley and brings forth the question of academic challenges needed to support a new paradigm of industrial design for humanoid robots.

Fig. 1: Joints and Links

Showing overlay of robot with a basic human model used for reference. Dimensions are shown in millimeters. 

Fig. 2: Hardware

Exploded diagram of the torso. The torso contains the computer, upper body elmo drives, and the networking switch.


Fig. 3: Computer

Exploded diagram of the central cage containing elmo motor drivers.


Digital Twin

As rendering and physical simulation software improve, we show that real-time photorealistic simulation of humanoid robots is possible. The ability to render and interact with high fidelity models before (and after) building the robot affords new workflows and capabilities to evaluate the perception of a robot design (e.g., through online human subject studies). 

Find the URDF and USD files here. Real-time simulation of complex robot in Omniverse, with an URDF file with >10,000 visual components.