CHARLI
![A black and silver humanoid robot with white casing.](https://cdn.sanity.io/images/7p2whiua/production/7ae52a3e43371e7216b101a690ddca054133412c-2048x1536.jpg?w=900&auto=format)
CHARLI is an adult-size humanoid designed as a platform to study robot mobility and autonomy. It can walk, kick a ball, and change its posture to avoid falls if something (or someone) pushes on it.
- Creators
- Year
- 2011
- Country
- United States 🇺🇸
- Categories
- Features
More videos
Did you know?
CHARLI was modeled on the NS-5 robots from the film "I, Robot" and the industrial robots that appear in Bjork's 1999 "All Is Full of Love" video.
![Full body view of the bipedal humanoid robot.](https://cdn.sanity.io/images/7p2whiua/production/4c3089b515f883c7b18b96e5681a1ac905281ba2-2048x1536.jpg?w=900&auto=format)
![Rear view of the bipedal humanoid robot showing exposed electronics.](https://cdn.sanity.io/images/7p2whiua/production/c0c8f7c4aea02a4ecebfc26f519b7da2d9403a3b-2048x1536.jpg?w=900&auto=format)
Audio
![UCLA roboticist Dennis Hong, the creator of CHARLI, describes how the humanoid learned how to walk and became a robot soccer star.](https://cdn.sanity.io/images/7p2whiua/production/f3a7863b3dc691f12593dcf6f01b622113bb201f-400x400.jpg?auto=format)
UCLA roboticist Dennis Hong, the creator of CHARLI, describes how the humanoid learned how to walk and became a robot soccer star.
Photo: Dustin Fenstermacher/The Washington Post/Getty Images![Dennis Hong explains the main similarities and differences between CHARLI and other walking humanoids.](https://cdn.sanity.io/images/7p2whiua/production/b26518dbcbde3598ddd3c891d195beb33ecfd47f-400x400.jpg?auto=format)
Dennis Hong explains the main similarities and differences between CHARLI and other walking humanoids.
Photo: RoMeLa![How do you take a humanoid robot on a plane? Dennis Hong describes his experiences going through airport security with CHARLI.](https://cdn.sanity.io/images/7p2whiua/production/c41147119b537b582a1ea000217ef23e49f374d4-400x400.jpg?auto=format)
How do you take a humanoid robot on a plane? Dennis Hong describes his experiences going through airport security with CHARLI.
Photo: RoMeLaMore Images
![A humanoid robot is almost as tall as the human next to them. They stand on a soccer course surrounded by onlookers as the robot tries to score a goal.](https://cdn.sanity.io/images/7p2whiua/production/1f4bcfc39a11029b09b4962f76fb42997be6ca32-2048x1536.jpg?w=900&auto=format)
![A man in black shirt and jeans stands next to a white and black humanoid robot that is as tall as his chest.](https://cdn.sanity.io/images/7p2whiua/production/aa6b3575b533567a110a107e0452eeb9dbae0938-2048x1536.jpg?w=900&auto=format)
![Close up of metallic gears.](https://cdn.sanity.io/images/7p2whiua/production/2133539623cdff6fe7dc8cdf8e7918d9c644611c-2048x1536.jpg?w=900&auto=format)
Specs
- Overview
Modular, lightweight design. Capable of reacting to external disturbances using an active stabilization strategy.
- Status
Inactive
- Year
2011
- Website
romela.org/charli-cognitive-humanoid-autonomous-robot-with-learning-intelligence
- Width
- 20 cm
- Height
- 141 cm
- Length
- 48 cm
- Weight
- 12.1 kg
- Speed
- 1.4 km/h (walking)
- Sensors
Camera, three-axis rate gyro, three-axis accelerometer, two microphones, encoders in each joint.
- Actuators
32 DC motors
- Degrees of Freedom (DoF)
- 25 (Leg: 6 DoF x 2, Arm: 4 DoF x 2, Head: 2 DoF, Hand: 1 DoF x 2, Torso: 1 DoF)
- Materials
Aluminum alloy, titanium, carbon-fiber composites, and plastics.
- Compute
Single-board computer with 1.6 GHz Intel Atom CPU.
- Software
Ubuntu Linux OS and custom operation and control program coded in C++ (LabVIEW version also implemented).
- Power
14.8-V lithium-polymer battery for actuation and 11.1-V lithium-polymer battery for computing, 30 minutes of operation