Compare humanoids
Pick two to four robots. Every pair also has its own permanent page, 1,326 in total, generated from the same records.
01
Pick robots
52 humanoidsDuke 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.
| 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 | |
03
Best-documented pairs
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