COMAN is a humanoid robot designed to safely interact with people. Unlike most humanoids, it doesn't have stiff joints: Its arms and legs can sense applied forces and move in a compliant way.
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COMAN stands for COmpliant huMANoid.
COMAN evolved from two other humanoid projects: iCub (2007) and cCub (2010). The original iCub was a traditional position controlled humanoid, and cCub was a compliant biped. For COMAN, the goal was to create a robot that could safely interact with objects and people, even in the event of a collision. To achieve that, torque sensors were incorporated into each of the motors, providing active torque control. Passive series elastic elements were also built into 14 of the key actuators to provide hybrid active/passive control. COMAN is part of the European Union-funded AMARSi project to advance whole-body manipulation, locomotion, and safe human-robot interaction.