Agility Cassie vs Duke Humanoid v1
Generated from the registry · revision 2026-09-26 · openness out of 100
Both list the same degrees of freedom (10). Openness score: Cassie 20, Duke Humanoid v1 85 (of 100); only Duke Humanoid v1 publishes CAD, BOM, SW and POL. Availability for both: research only.
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Side by side
■ rows differ| Field | Agility RoboticsAgility Cassie | Duke University General Robotics LabDuke Humanoid v1 | Δ first − second |
|---|---|---|---|
| Identity | |||
| Maker (differs) | Agility Robotics | Duke University General Robotics Lab | |
| Class | Biped | Biped | |
| Status (differs) | Discontinued | Research | |
| Availability | Research only | Research only | |
| Country | United States | United States | |
| Year (differs) | 2017 | 2024 | |
| Specifications | |||
| Height | —unsourced | —unsourced | |
| Mass | —unsourced | —unsourced | |
| Degrees of freedom | 10 | 10 | = |
| Payload | —unsourced | —unsourced | |
| Top speed | —unsourced | —unsourced | |
| Runtime | —unsourced | —unsourced | |
| Battery capacity | —unsourced | —unsourced | |
| Price | Not for sale | Not for sale | |
| Actuators | —unsourced | —unsourced | |
| Compute | —unsourced | —unsourced | |
| Sensors | —unsourced | —unsourced | |
| Openness and provenance | |||
| Openness bar | |||
| Openness score (differs) | 20/ 100 | 85/ 100 | −65 |
| CAD (25) (differs) | not public | public | |
| Bill of materials (20) (differs) | not public | public | |
| Sim model (URDF/MJCF) (20) | public | public | |
| Firmware (15) | not public | not public | |
| Software (10) (differs) | not public | public | |
| Trained policies (10) (differs) | not public | public | |
| Verification level (differs) | L2 | L1 | |
| Sources (differs) | 3 | 4 | |
| Last checked (differs) | 2026-09-24 | 2026-09-25 | |
A dash is an unsourced figure, not zero. Sources for each robot are listed on its spec sheet: Cassie, Duke Humanoid v1.
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