ManufacturerIHMC Robotics / Robotics Lab of the Florida Institute for Human & Machine Cognition (IHMC)Robot model · No. 2Nadia (Legacy / Retired)
Humanoid Robots
Key factApproximately 90 kg kg · Hybrid electric + hydraulic
Model specifications
WeightApproximately 90 kg kg
Actuation architectureHybrid electric + hydraulic
Approx. robot mass~90 kg excluding hydraulic pump and battery
Arm DOF7 DOF per arm
Arm motorsBLDC electric motors
Arm transmissionCustom cycloidal transmission
AutonomyPartial / semi-autonomous behaviors
AvailabilityNo — legacy / retired research platform
ColorPredominantly black / dark composite exterior in the final research robot
Commercial statusNever mass-commercialized
ControlWhole-body control + teleoperation + assistive autonomy
Current statusLegacy / superseded by Alex
Degrees of freedom, overall29 joints / DOF
Door autonomyYes, including assisted/autonomous handling of multiple door types in later research
Exterior shellCarbon-fiber/composite covering over much of the robot
Human interfaceVR and mixed-reality teleoperation
Hydraulic actuatorsMoog Integrated Smart Actuators (ISAs)
Leg DOF5 hydraulic DOF per leg in the published hardware breakdown
Main marketResearch; Defense; Disaster Response; EOD; Hazardous Environments; Human-Machine Teaming
ManufacturerIHMC Robotics, with Boardwalk Robotics, Morfey Ltd, H4 Labs, Moog, and other collaborators contributing subsystems
Motor techHybrid electric + hydraulic actuation
NationalityAmerican
Original design target height~170–183 cm
Original design target mass<90 kg, later exceeded slightly before external hydraulic power/battery were included
Pelvis DOF3 electric DOF
Power sourceExternal hydraulic power and external/on-system electrical support during Nadia generation; fully onboard power was not achieved in the way it later was with Alex.
Safe with humansDesigned for robust human-machine teaming and contact-tolerant operation
Teleoperation sensors2024 research used 7 IMUs on the human operator for calibration-free full-body motion capture/retargeting.
Torso DOF2 hydraulic DOF
Total joints29
Websitehttps://robots.ihmc.us/humanoid-design
About the Nadia (Legacy / Retired)
Legacy 29-joint IHMC humanoid with hybrid hydraulic-electric actuation, large human-like range of motion, VR teleoperation, and dynamic mobility for disaster-response and hazardous-environment research.
The Robot24.com Encyclopedia
Open manufacturer listExplore manufacturers and their complete robot portfolios.
Move from company facts to individual robot specifications in two clicks.
Free Weekly
BUSINESS NEWS WEEKLY LETTER
The Weekly Letter for Robotics Professionals, Summarizing the Most Important Industry Moves, Launches, Deals and Signals.
120,000+ robotics professionals follow Robot24.com