COMAN

COMAN is a 0.95 m, 33 kg compliant humanoid from the Italian Institute of Technology (IIT) in Italy, built to study safe, robust and energy-efficient walking. Its passive compliance lets it absorb disturbances and interact gently with the world, addressing a central challenge in legged-robotics research.

The robot has 31 degrees of freedom driven by over 30 brushless DC motors with torque control, 14 of which use series elastic actuators for passive compliance, yielding smooth, safe and efficient joint movement. Its sensing includes position and torque sensors on every joint, six-axis force/torque sensors on the ankles and wrists, and an IMU in the torso for balance. The control stack runs Linux with a Xenomai real-time kernel, custom torque and position control, whole-body inverse kinematics and impedance control, and safety modules, with a battery runtime of about 120 minutes.

As a research-focused humanoid robot, COMAN suits laboratory research on dynamic walking, compliant control and human-robot interaction, as well as search-and-rescue studies in unstructured terrain. Its instrumentation and open control approach make it a strong platform for reproducible experiments.

Nexon System supports the IIT COMAN for research groups across Southeast Asia, providing commissioning, control-software onboarding, and integration with existing research infrastructure and simulation tools. Each deployment includes training and continuing technical support, so teams can focus on their experiments rather than platform maintenance. Talk to Nexon to bring COMAN into your lab.