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HumanoidPAL Robotics2021ES

Kangaroo

Research biped/humanoid with custom linear actuators and configurable arms (14-40 DOF), 1.6 m and 50-65 kg.

activeBuyL1 Compilednot buildable

Difficulty index

9.0/13
9.0
Index breakdown
Classhumanoid+5
Costunknown · midpoint+1.5
DOFunknown · midpoint+1.5
Partsunknown · midpoint+1
How the index works

Top of the ladder. This robot lives on the humanoid domains.

Specimen photographs

2 items
  • PAL Robotics | Kangaroo ProPALRobotics · official video, embedded · source
  • PAL Robotics | KANGAROO Free Walking DemoPALRobotics · official video, embedded · source

Spec card

5/13 known
Height
160 cm
Battery
976 Wh
Actuators
custom linear actuators with integrated force sensors
Compute
2x Intel i7 PCs, optional NVIDIA Jetson
Sensors
4x RGB-D, 1 kHz IMU, optional F/T sensors

Not in the registry: degrees of freedom, mass, payload, speed, runtime, price, bom total, part count. Left blank rather than guessed.

What you learn building it

  • +Whole-body control
  • +Dozens of actuators on one bus
  • +Balance and fall handling
  • +Safe bring-up of a full-size machine
  • +Testing in simulation (URDF/MJCF) before touching hardware

Openness

30/100
  • not publicCAD
  • not publicBOM
  • not publicFirmware
  • publicSim model
  • publicSoftware
  • not publicPolicies

Score 30/100 computed from what is public: CAD 25, BOM 20, sim 20, firmware 15, software 10, policies 10. Software license: Apache-2.0.

Repos & models

URDF ↗
Site

Build it

Closed hardware. Buy link only.

humanoidrobot.build/pal/kangaroo · Closed hardware. Buy link only.

Simulate

Load it in the browser simulator and train a policy before building.

Open on humanoidrobots.training ↗

Next rung

None. This is the top. Find people building it on humanoidrobots.team.

This is the top of the ladder.

NoteMass 50-65 kg and DOF 14-40 depend on configuration (6 DOF/leg, 2 torso, 4/5/7-DOF arms). Unveiled 2021, commercially available 2024 (first unit to TU Wien).

Sources

  1. [1]PAL Kangaroo pagechecked 2026-09-24
  2. [2]Mike Kalilchecked 2026-09-24