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Reachy

A woman wearing VR goggles and holding an implement in each hand is posed next to a humanoid torso on a pole and mobile base, which mimics her position.
I am one with my operator. Photo: Pollen Robotics

Reachy is an open source humanoid robot designed for research and prototyping. It can be programmed or controlled through VR, and is particularly good at interacting with people and manipulating objects.

Creator

Pollen Robotics

Year
2020
Country
France 🇫🇷
Categories
Features
Reachy is now mobile! Pollen Robotics

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Did you know?

Reachy is named after Lionel Richie.

A humanoid robot on a mobile platform with four layers, with a white and black torso, a tablet head, and two arms with grippers opens a junction box in an industrial setting.
Reachy won second place at the ANA XPrize, an international robotic teleoperation competition. Photo: Pollen Robotics

History

Pollen Robotics was founded in 2016 by Matthieu Lapeyre and Pierre Rouanet, who were former roboticists at the French research center Inria. Headquartered in Bordeaux, France, Pollen aims to make AI and robots accessible and useful in the real world. One of their first creations was Poppy, the first 3D printed open source humanoid robot. A more recent creation, Reachy, won second place at the ANA XPrize, an international robotic teleoperation competition where robots had to navigate in a simulated Mars environment. Reachy completed tasks such as weighing supply bottles, unscrewing a hatch with an electric drill, and retrieving the roughest space rock from a selection.

A black and white robotic torso with two white arms ending in two finger gripper hands, and a white head with two antenna, and two camera eyes, one large and one small moves through an office where someone is sitting with a laptop on a couch.
Where are the office snacks? Photo: Pollen Robotics
The robot and a man in a blue shirt give each other a fist bump while outdoors.
Reachy thinks fist bumps are better than handshakes. Photo: Pollen Robotics

Specs

Overview

Navigation system to move around human environments. Two lightweight 7-DoFs bio-inspired arms for grasping. Modular and customizable open source hardware. Fully programmable with Python API and ROS 2.

Status

Ongoing

Year

2020

Website
Width
25 cm
Height
150 cm
Length
50 cm
Weight
32 kg
Speed
3.6 km/h (recommended), 9 km/h (max)
Sensors

Head: dual 1080p@30fps camera with motorized zoom (FOV 65° to 125°). Gripper: force sensor. Mobile base: Hall sensors and IMU on each wheel, RP lidar S2.

Actuators

Arms: 16 Dynamixel motors. Orbita neck joint: 3 DC Maxon brushless motors. Antennas: 2 Dynamixel motors.

Degrees of Freedom (DoF)
21 DoF (Arms: 7 DoF x 2; Grippers 1 DoF x2; Neck: 3 DoF; Antennas: 1 DoF x 2)
Materials

3D printed MJF, SLS, and PLA. Painted aluminum. Steel structure.

Compute

Internal computer NUC Intel i5 dual-core 2.1 Ghz with 8 GB DDR4 and 256 GB SSD. Embedded TPU (Google Coral) for running ML models at high speed locally. HDMI, USB, Ethernet, and Wi-Fi.

Software

ROS 2 Foxy, gRPC clients, Python SDK & API, VR teleoperation application, dashboard application, simulation packages for Unity and Gazebo.

Power

Lithium-ion battery OlenBox M: 24V, 35Ah. Equipped with a BMS for safety, 10 hours of operation.

Cost
€ 9,990 — € 39,990 depending on configuration