34 DOF with 7-DoF arms
AIST gives 34 degrees of freedom, with 7 in each arm to help with object handling. [1]
AIST HRP-4
Specs, price & availability · verified Oct 2026
AIST HRP-4 is a 151.4 cm, 39 kg biped from National Institute of Advanced Industrial Science and Technology (AIST) (Japan), discontinued from Jan 2011 at an MSRP of $325,000.
- Price
- $325,000
- Height
- 151.4 cm
- Weight
- 39 kg
- Total DoF
- 34
Last verified Oct 10, 2026
Price & availability
$325,000
Msrp · USD · ReportedReported — stated by a credible third party
Original price: JPY 26,000,000 (PC Watch); US$325,000 (TechCrunch)
Source: HRP-4 announcement report (PC Watch, Japanese) ↗ · Sep 16, 2010
Historical launch price, not a current offer. PC Watch reported JPY 26 million; TechCrunch reported US$325,000 including control software. The USD figure is retained without conversion.
Discontinued from Jan 2011
Current dataset status: Discontinued.
Product overview
About AIST HRP-4
HRP-4 is a research humanoid from Kawada Industries and AIST. AIST announced it on 15 September 2010 as a platform for developing working humanoid robots. The developer specification gives a height of 1,514 mm, a weight of 39 kg including batteries and 34 degrees of freedom, with 7 in each arm and 2 in each hand.
Kawada built the hardware, and AIST's Humanoid Research Group wrote the motion-control software. The control stack uses OpenRTM-aist on a Linux kernel with the RT-Preempt patch, and the model is compatible with the OpenHRP3 simulator. All joint motors are rated at 80 W or less. AIST's launch release listed a 0.5 kg payload per arm; its later HRP-5P comparison lists 0.9 kg per arm when held horizontally.
AIST planned supply to universities and research institutions from January 2011. PC Watch reported a launch price of 26 million yen, while TechCrunch reported US$325,000 including control software. Kawada's current product lineup no longer offers HRP-4 and lists only NEXTAGE research platforms, so this page treats HRP-4 as discontinued.
“HRP-4 has a total of 34 degrees of freedom, including 7 degrees of freedom for each arm to facilitate object handling.”
Capabilities
Key features
Low-power joint motors
Kawada says all joint motors are 80 W or less, a design choice for safety. [2]
Open software platform
The control stack runs OpenRTM-aist on a Linux kernel with the RT-Preempt patch, and the model is compatible with the OpenHRP3 simulator. [1]
Research-oriented supply
At launch, AIST said Kawada would take orders and supply the robot to universities and research institutions from January 2011. [1]
Hardware profile
Specifications
Official — stated by the manufacturer or organizerReported — stated by a credible third partyEstimated — derived or approximate
Body
Mobility
Power
- Battery
- 0.26 kWhReported — stated by a credible third party[7]48 V × 5.4 Ah NiMH battery = 0.2592 kWh
Hands & Manipulation
- DoF per hand
- 2Reported — stated by a credible third party[7]Two DOF in each hand
Compute & Sensing
Show unknown fields (6)
Mobility
- Maximum speed
- Not published
- Peak joint torque
- Not published
Power
- Runtime
- Not published
- Charge time
- Not published
- Swappable battery
- Not published
Compute & Sensing
- AI stack
- Not published
Quick answers
AIST HRP-4 FAQ
How much does AIST HRP-4 cost?
AIST HRP-4 is listed at $325,000 (Msrp, reported). The source also states JPY 26,000,000 (PC Watch); US$325,000 (TechCrunch). [5][6]
Can you buy AIST HRP-4?
No general order page is verified. AIST HRP-4 is currently classified as discontinued. [1]
How tall is AIST HRP-4 and how much does it weigh?
AIST HRP-4 is 151.4 cm tall and weighs 39 kg (AIST release). [7][1]
How much can AIST HRP-4 carry?
The listed payload is 0.9 kg; Per horizontally extended arm in AIST's 2018 comparison; the 2010 launch release listed 0.5 kg per arm. [1][8]
How many degrees of freedom does AIST HRP-4 have?
AIST HRP-4 has 34 listed degrees of freedom; AIST release; includes 7 DOF per arm. [1]
Does AIST HRP-4 have an open SDK?
Yes. AIST HRP-4 is recorded as providing a public developer SDK or API. [1]
Who makes AIST HRP-4?
AIST HRP-4 is made by National Institute of Advanced Industrial Science and Technology (AIST), based in Japan. [1]
What is the predecessor or successor of AIST HRP-4?
AIST HRP-3 is its predecessor; AIST HRP-5P is its successor. [1]
Side by side
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Lineage
Model family
Evaluation footprint
Benchmarks & competitions
No benchmark embodiments or results reference this robot yet.
Related
Similar robots
Evidence
Sources
- [1]AIST press release on HRP-4 (2010) ↗National Institute of Advanced Industrial Science and Technology · official · accessed Oct 8, 2026
- [2]Kawada Robotics - research humanoid robots (HRP-2 Promet, HRP-3, HRP-4) ↗Kawada Robotics · official · accessed Oct 8, 2026
- [3]Kawada Robotics contact page ↗Kawada Robotics · official · accessed Oct 8, 2026
- [4]HRP-4 - Robots Guide ↗Robots Guide · database · accessed Oct 8, 2026
- [5]HRP-4 announcement report (PC Watch, Japanese) ↗PC Watch (Impress) · press · accessed Oct 8, 2026
- [6]HRP-4: Meet Japan's New And Awesome Humanoid Robot (Video) ↗TechCrunch · press · accessed Oct 8, 2026
- [7]Humanoid Robot HRP-4: Humanoid Robotics Platform with Lightweight and Slim Body ↗IEEE/RSJ International Conference on Intelligent Robots and Systems · paper · accessed Oct 8, 2026
- [8]Development of a Humanoid Robot Prototype, HRP-5P, Capable of Heavy Labor ↗National Institute of Advanced Industrial Science and Technology · official · accessed Oct 8, 2026
- [9]Kawada Robotics product lineup ↗Kawada Robotics · official · accessed Oct 8, 2026