Duke Humanoid v1 vs PUDU D9
Generated from the registry · revision 2026-09-26 · openness out of 100
Duke Humanoid v1 has 32 fewer degrees of freedom (10 vs 42) than PUDU D9. Openness score: Duke Humanoid v1 85, PUDU D9 0 (of 100); only Duke Humanoid v1 publishes CAD, BOM, SIM, SW and POL. Availability: Duke Humanoid v1 research only, PUDU D9 not for sale.
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Side by side
■ rows differ| Field | Duke University General Robotics LabDuke Humanoid v1 | Pudu RoboticsPUDU D9 | Δ first − second |
|---|---|---|---|
| Identity | |||
| Maker (differs) | Duke University General Robotics Lab | Pudu Robotics | |
| Class (differs) | Biped | Humanoid | |
| Status (differs) | Research | Active | |
| Availability (differs) | Research only | Not for sale | |
| Country (differs) | United States | China | |
| Year | 2024 | 2024 | |
| Specifications | |||
| Height | —unsourced | 170cm | |
| Mass | —unsourced | 65kg | |
| Degrees of freedom (differs) | 10 | 42 | −32 (-76%) |
| Payload | —unsourced | 20kg | |
| Top speed | —unsourced | 2m/s | |
| Runtime | —unsourced | —unsourced | |
| Battery capacity | —unsourced | 720Wh | |
| Price | Not for sale | Not for sale | |
| Actuators | —unsourced | Pudu joint modules (352 N·m max torque) | |
| Compute | —unsourced | 275 TOPS onboard | |
| Sensors | —unsourced | RGB, RGB-D cameras, tactile sensors, IMU | |
| Openness and provenance | |||
| Openness bar | |||
| Openness score (differs) | 85/ 100 | 0/ 100 | +85 |
| CAD (25) (differs) | public | not public | |
| Bill of materials (20) (differs) | public | not public | |
| Sim model (URDF/MJCF) (20) (differs) | public | not public | |
| Firmware (15) | not public | not public | |
| Software (10) (differs) | public | not public | |
| Trained policies (10) (differs) | public | not public | |
| Verification level (differs) | L1 | L0 | |
| Sources (differs) | 4 | 2 | |
| Last checked (differs) | 2026-09-25 | 2026-09-24 | |
A dash is an unsourced figure, not zero. Sources for each robot are listed on its spec sheet: Duke Humanoid v1, PUDU D9.
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