Punyo
Punyo is a soft-bodied humanoid research robot developed by the Toyota Research Institute (TRI) for whole-body manipulation research, particularly focused on handling bulky objects using arms and chest rather than traditional rigid grippers. Instead of hands or fingers, Punyo uses air-filled latex bubble paws with internal cameras that detect deformation to sense contact forces, enabling visuotactile feedback for contact-rich manipulation tasks. TRI has open-sourced the bubble gripper design files via punyo.tech and uses Diffusion Policy and Example-Guided Reinforcement Learning to train Punyo on household and assistive tasks.
Primary use case: Research
Height
91 cm
Specifications
Physical
Height
91 cm
Locomotion
Bipedal
Commercial
Availability
Research Only
Primary Use Case
Research
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