43 degrees of freedom
IEEE Spectrum reports 43 DoF, up from 31 on Surena III. [2][3]
Surena IV
Specs, price & availability · verified Oct 2026
Surena IV is a 170 cm, 68 kg biped from University of Tehran (Iran), discontinued with no published price.
- Price
- Not disclosed
- Height
- 170 cm
- Weight
- 68 kg
- Total DoF
- 43
Last verified Oct 10, 2026
Price & availability
University of Tehran has not published a price
Discontinued
Current dataset status: Discontinued.
Product overview
About Surena IV
Surena IV is the fourth-generation humanoid in the University of Tehran's Surena series. Wikipedia dates its unveiling to 14 December 2019. A paper by the development team specifies a height of 170 cm, a mass of 68 kg and 43 degrees of freedom: seven per arm, six per hand and six per leg, with the remaining joints in the waist and neck.
IEEE Spectrum reports that the robot mimics human poses, grasps a water bottle, writes its name on a whiteboard and lifts a box. Its reported walking speed is 0.7 km/h. The team's paper describes predictive foot sensors for adapting to unknown obstacles, motor-current feedback in the hands, and experiments involving drilling, visual servoing and writing.
A 2024 Humanoids paper by the same group presents Surena V and documents physical human-robot collaboration experiments. Surena IV is therefore a superseded research platform and is listed as discontinued. No price or order page has been published.
Capabilities
Key features
Demonstrated manipulation
Demonstrations show it grasping a water bottle, writing its name and lifting a box. [2]
Tracking and delicate handling
The team reports object tracking, handling of delicate items and operation of power tools. [2]
Walking on uneven ground
Walking speed rose to 0.7 km/h, and the robot can step over uneven surfaces, per IEEE Spectrum. [2]
Hardware profile
Specifications
Official — stated by the manufacturer or organizerReported — stated by a credible third partyEstimated — derived or approximate
Body
Mobility
- Maximum speed
- 0.19 m/sReported — stated by a credible third party[1][2]Converted from the reported walking speed of 0.7 km/h; not separately labeled a tested top speed
- Peak joint torque
- 120 N·mReported — stated by a credible third party[3]Highest maximum torque in the paper's joint table, for the waist-pitch joint
Hands & Manipulation
- DoF per hand
- 6Reported — stated by a credible third party[3]Six independently actuated DoF in each hand
- Hand / end effector
- Five-finger anthropomorphic hand with six independent DoF and motor-current force feedbackReported — stated by a credible third party[3]
Compute & Sensing
Show unknown fields (5)
Power
- Battery
- Not published
- Runtime
- Not published
- Charge time
- Not published
- Swappable battery
- Not published
Hands & Manipulation
- Payload
- Not published
Quick answers
Surena IV FAQ
Can you buy Surena IV?
No general order page is verified. Surena IV is currently classified as discontinued. [1]
How tall is Surena IV and how much does it weigh?
Surena IV is 170 cm tall and weighs 68 kg (Whole robot). [1][2][3]
How fast is Surena IV?
Its stated maximum speed is 0.19 m/s; Converted from the reported walking speed of 0.7 km/h; not separately labeled a tested top speed. [1][2]
How many degrees of freedom does Surena IV have?
Surena IV has 43 listed degrees of freedom; Whole robot. [1][2][3]
Who makes Surena IV?
Surena IV is made by University of Tehran, based in Iran. [1]
What is the predecessor or successor of Surena IV?
Surena III is its predecessor. [1]
Side by side
Compare Surena IV
Choose up to four robots for a sourced specification and price comparison.
Head to head
Popular comparisons
Lineage
Model family
Evaluation footprint
Benchmarks & competitions
No benchmark embodiments or results reference this robot yet.
Related
Similar robots
Evidence
Sources
- [1]Surena (robot) - Wikipedia ↗Wikipedia · database · accessed Oct 8, 2026
- [2]Iran Unveils Its Most Advanced Humanoid Robot Yet (IEEE Spectrum) ↗IEEE Spectrum · press · accessed Oct 8, 2026
- [3]SURENA IV: Towards A Cost-effective Full-size Humanoid Robot for Real-world Scenarios ↗2020 IEEE-RAS International Conference on Humanoid Robots (arXiv copy) · paper · accessed Oct 8, 2026
- [4]Surena-V: A Humanoid Robot for Human-Robot Collaboration with Optimization-based Control Architecture ↗IEEE-RAS International Conference on Humanoid Robots (arXiv copy) · paper · accessed Oct 8, 2026