DiscontinuedUpper Body🇺🇸 Stanford University

Stanford OceanOne

Specs, price & availability · verified Oct 2026

Stanford OceanOne is a upper-body humanoid from Stanford University (United States), discontinued with no published price.

Price: Not disclosed
Total DoF: 24

Last verified Oct 10, 2026

Listed in:New humanoid robots Humanoid robot hands

Price & availability

Stanford University has not published a price

Discontinued

Current dataset status: Discontinued.

Product overview

About Stanford OceanOne

OceanOne is a humanoid diving robot developed at Stanford University with scientists from King Abdullah University of Science and Technology (KAUST), under Oussama Khatib. The robot was first shown in April 2016 with a head carrying stereoscopic vision, two seven-DoF arms, underactuated hands and an eight-thruster body. The complete platform has 24 degrees of freedom and 26 actuators.

A pilot controls the robot from a boat through stereo video and haptic interfaces. Six-axis force/torque sensors at the wrists relay contact forces, while an IMU, depth sensor and Doppler velocity log support body-state estimation. Its first sea mission explored La Lune, the wreck of King Louis XIV's flagship, and recovered a vase.

The platform was later developed into OceanOneK, which Stanford describes as the newest generation of underwater humanoid robot. OceanOneK retained eight-thruster mobility while redesigning the body for a 1,000 m depth rating, and it was used on Mediterranean missions in 2022. The original OceanOne is listed here as discontinued because it was superseded by that later version.

Capabilities

Key features

Haptic hands

The hands send contact feedback to the pilot's controls, so the operator can feel how firmly the robot is grasping an object. [1]

Stereo vision head

The head carries stereoscopic vision, which gives the pilot a depth view of the underwater site. [1]

First mission: La Lune

Its first mission explored the wreck of La Lune, King Louis XIV's flagship, and it recovered a vase from the site. [1]

Successor OceanOneK

Stanford's OceanOneK uses a slimmer pressure-tolerant body with eight thrusters and is rated to 1,000 m for deeper research dives. [2][3]

Human-sized build

Stanford describes the robot as roughly five feet long, end to end. KAUST describes a human-sized anatomy and a weight of less than 200 kg. [1][6]

Eight thrusters

Eight thrusters give the robot precise maneuvering in tight spaces, according to Stanford and IEEE Spectrum. [1][7]

Hardware profile

Specifications

Official — stated by the manufacturer or organizerReported — stated by a credible third partyEstimated — derived or approximate

Body

Total DoF: 24Official — stated by the manufacturer or organizer[4]The Stanford-led design paper gives 24 total DoF and 26 actuators

Mobility

Actuation: ElectricReported — stated by a credible third party[6]Arms are electrically driven and torque-controlled (KAUST, 2016)

Hands & Manipulation

DoF per hand: 1Official — stated by the manufacturer or organizer[5]One actuated DoF per underactuated hand; passive finger joints provide compliant grasps
Hand / end effector: Two three-fingered, underactuated, compliant tendon-driven hands with force feedbackOfficial — stated by the manufacturer or organizer[1][5]

Compute & Sensing

Sensors: Stereo cameras, Six-axis force/torque sensor at each wrist, Optical joint encoders, Inertial measurement unit (IMU), Depth sensor, Doppler velocity log (DVL)Official — stated by the manufacturer or organizer[1][4]

Show unknown fields (11)

Body

Height: Not published
Weight: Not published

Mobility

Maximum speed: Not published
Peak joint torque: Not published

Power

Battery: Not published
Runtime: Not published
Charge time: Not published
Swappable battery: Not published

Hands & Manipulation

Payload: Not published

Compute & Sensing

Onboard compute: Not published
AI stack: Not published

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