Wheeled base
The Waseda-authored paper describes a two-wheel mobile platform with two degrees of freedom. [4]
Price & availability
Waseda University has not published a price
Discontinued
Current dataset status: Discontinued.
Product overview
About Waseda Hadaly-2
Hadaly-2 is an experimental humanoid completed at Waseda University in 1997 to study physical and spoken interaction with people. Its lower body is a two-wheel mobile platform rather than a pair of walking legs.
A Waseda-authored paper reports a height of about 1.7 m, a total weight of 150 kg and a maximum speed of 6 km/h. The body and mobile platform have 43 degrees of freedom excluding the head; adding the paper's six-degree-of-freedom head-and-eye system gives 49 in total. Each four-fingered hand has 13 degrees of freedom, and the system uses three distributed 200 MHz Pentium computers.
A 1999 MIT Technology Review article described the hands as large metal claws and noted that the eyes squint, blink and turn away from a light. No price, sales route or evidence of ongoing development was found, so this page treats Hadaly-2 as a historical research platform.
Capabilities
Key features
Hardware profile
Specifications
Official — stated by the manufacturer or organizerReported — stated by a credible third partyEstimated — derived or approximate
Body
Mobility
- Maximum speed
- 1.67 m/sReported — stated by a credible third party[4]Paper reports 6 km/h; converted to m/s
Hands & Manipulation
- DoF per hand
- 13Reported — stated by a credible third party[4]
- Hand / end effector
- Four-fingered anthropomorphic handsReported — stated by a credible third party[4]MIT Technology Review described their appearance as large metal claws
Compute & Sensing
Show unknown fields (7)
Mobility
- 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
- AI stack
- Not published
Quick answers
Waseda Hadaly-2 FAQ
Can you buy Waseda Hadaly-2?
No general order page is verified. Waseda Hadaly-2 is currently classified as discontinued. [3]
How tall is Waseda Hadaly-2 and how much does it weigh?
Waseda Hadaly-2 is 170 cm tall and weighs 150 kg. [4]
How fast is Waseda Hadaly-2?
Its stated maximum speed is 1.67 m/s; Paper reports 6 km/h; converted to m/s. [4]
How many degrees of freedom does Waseda Hadaly-2 have?
Waseda Hadaly-2 has 49 listed degrees of freedom; Derived from the paper's 43-DoF body/mobile-platform subtotal plus its six-DoF WE-3R head-and-eye system. [4]
Who makes Waseda Hadaly-2?
Waseda Hadaly-2 is made by Waseda University, based in Japan. [3]
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Evaluation footprint
Benchmarks & competitions
No benchmark embodiments or results reference this robot yet.
Related
Similar robots
Evidence
Sources
- [1]Humanoid robot - Wikipedia ↗Wikipedia · database · accessed Oct 8, 2026
- [2]Japan's Friendly Robots ↗MIT Technology Review · press · accessed Oct 8, 2026
- [3]History of Humanoid Robot in Waseda University ↗Waseda University Humanoid Robotics Institute · official · accessed Oct 8, 2026
- [4]Humanoid Robots in Waseda University—Hadaly-2 and WABIAN ↗Autonomous Robots · paper · accessed Oct 8, 2026