Toyota Human Support Robot (HSR) specs

Toyota (Japan) Toyota Human Support Robot (HSR) (1)

Toyota (Japan) Toyota Human Support Robot (HSR) (2)

Not for sale

Not for sale (research)Via SSH / web / bridgeAssistive robotRoboCup@HomeFolding armLease/loan only

Not for saleShipping: Not for sale.

Remote control: ROS on the robot. Research teams connect Linux workstations over the ROS network.

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Overview

Toyota's slim, one-armed home assistant for people with limited mobility, unveiled in 2012 and later the standard platform of the RoboCup@Home Domestic Standard Platform League and the World Robot Summit. Never sold to consumers. Universities obtain it through Toyota's developer community.

Type: Wheeled robot · Research mobile manipulators & platforms
Maker: Toyota (Japan)
Released: 2012
Price: Not for sale
Status: Not for sale (research)
Best for: Professionals & labs
Programming: Full SDK

Price and shipping

Provided to research institutions via the HSR Developers Community (from 2015).

Shipping: Not for sale. Only available to research institutions through Toyota.

Specifications

Category	Wheeled rovers · Research mobile manipulators & platforms
Released	2012
Country	Japan
Availability	Not for sale (research)
Sales	Used by 57 research organizations in 10 countries (estimate) Robots Guide ↗
Programmability	Full SDK
Built-in autonomy	Task-level · Carries out multi-step jobs on its own, such as inspections, deliveries or chores
LLM support	Possible via SDK · No built-in LLM. Its SDK lets software on a computer control it.
MuJoCo simulation	Maker URDF only · Toyota's hsrb_description URDF, no packaged MuJoCo model found. hsrb_description ↗
NVIDIA Isaac simulation	Maker URDF only · Toyota's hsrb_description URDF, researchers convert it to USD themselves. hsrb_description ↗
Gazebo simulation	Official model · Toyota's HSR project publishes hsrb_gazebo_bringup and Gazebo plugins for ROS 2. hsrb_gazebo_bringup ↗
Best for	Professionals & labs
Vision sensors	Depth camera, Camera, Lidar
Actuators	Unknown
Audio	Unknown
Compute type	Proprietary / undisclosed
Remote control	Via SSH / web / bridge
Size	43 cm diameter, 1.005–1.35 m tall, 37 kg (approx.), shoulder height 34–103 cm, grasps objects up to 1.2 kg and 13 cm wide
Drive	Omnidirectional base
Compute	On-board Intel CPU plus Nvidia GPU
Vision	RGB-D head camera, stereo cameras, hand camera
Lidar	2D base lidar
Sensors	Force sensor in wrist, suction and gripper hand, IMU
Runtime	Not published
Speed	0.8 km/h max
SDK	ROS, Toyota HSR Developers Community software