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 humanoidsNo height, mass, DOF or payload figure is sourced for both Duke Humanoid v1 and Phoenix yet. Openness score: Duke Humanoid v1 85, Phoenix 0 (of 100); only Duke Humanoid v1 publishes CAD, BOM, SIM, SW and POL. Availability: Duke Humanoid v1 research only, Phoenix not for sale.
| Field | Duke University General Robotics LabDuke Humanoid v1 | Sanctuary AISanctuary Phoenix | Δ first − second |
|---|---|---|---|
| Identity | |||
| Maker (differs) | Duke University General Robotics Lab | Sanctuary AI | |
| Class (differs) | Biped | Humanoid | |
| Status | Research | Research | |
| Availability (differs) | Research only | Not for sale | |
| Country (differs) | United States | Canada | |
| Year (differs) | 2024 | 2023 | |
| Specifications | |||
| Height | —unsourced | 170cm | |
| Mass | —unsourced | 70kg | |
| Degrees of freedom | 10 | —unsourced | |
| Payload | —unsourced | 25kg | |
| Top speed | —unsourced | 1.3m/s | |
| Runtime | —unsourced | —unsourced | |
| Battery capacity | —unsourced | —unsourced | |
| Price | Not for sale | Not for sale | |
| Actuators | —unsourced | Hydraulic hands (20 DOF total across both hands) | |
| Compute | —unsourced | Carbon AI control system | |
| Sensors | —unsourced | Haptic sensing in hands | |
| 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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