What are the specs of the Punyo?

The Punyo is a bipedal robot. Height: ~3'0" (91 cm, torso-up). 2 industrial arms + waist degrees of freedom.

Is the Punyo commercially available?

The Punyo by Toyota Research Institute is currently in r&d status.

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Punyo

Made by Toyota Research Institute 🇯🇵 Los Altos, USA

R&DBipedal

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Height~3'0" (91 cm, torso-up)

Degrees of Freedom2 industrial arms + waist

Payload CapacityBulky household objects

Capability Assessment

2/ 10

ReadinessMinimal

DexterityMinimal

MobilityData pending

AutonomyLow

PayloadMinimal

EnduranceData pending

2/ 10

Humanoid Index Assessment

Humanoid Index Assessment — scores derived from published specifications and deployment data.

See Punyo In Action

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Specifications

Height	~3'0" (91 cm, torso-up)
Degrees of Freedom	2 industrial arms + waist
Payload Capacity	Bulky household objects
Fingers	2 paw-style end effectors
Gait Type	Stationary (mounted torso)
Sensors	26 air-filled tactile bladders, internal cameras (dot-pattern tracking)
Motor Type	Industrial robot arms + pneumatic bladders
AI Integration	TRI diffusion policy learning
Software / OS	ROS (Toyota Research Institute)

Specs vs Field Average

How Punyo compares to the average across all indexed robots (normalized 0-10 scale)

Source: Humanoid Index

About Punyo

Toyota Research Institute's Punyo is a soft humanoid research platform designed for whole-body manipulation of bulky household objects. The torso-up robot stands approximately 91 cm tall and features two industrial robot arms covered in compliant materials and air-filled tactile bladders. Thirteen individually pressurizable bubbles on each arm add compliance and variable stiffness, each connected to a pressure sensor for contact force detection. The hands terminate in paw-like end effectors with internal cameras that track dot-pattern deformation to estimate applied forces. Punyo addresses a gap in robotics research by focusing on large, heavy, and unwieldy items that require coordinated arm-and-body contact. TRI uses diffusion policy learning to train Punyo behaviors.