University of Tehran Surena IV Specifications

The Surena IV humanoid robot, developed by the University of Tehran's Center of Advanced Systems and Technologies (CAST), represents a significant advancement in Iran's robotics research. Standing 1.7 meters tall and weighing 68 kg, it features 43 degrees of freedom (DoF), offering improved dexterity over its predecessor, Surena III. This enhancement allows the robot to perform more precise upper and lower body motions, interact with humans, and execute complex tasks such as gripping objects of various shapes. The robot's design benefits from topology optimization, custom actuator design, and 3D printing technologies, making it lighter and more compact.

Surena IV incorporates advanced real-time control capabilities with an FPGA board operating at a 200 Hz frequency, enabling efficient implementation of online controllers and estimators. Utilizing the Robot Operating System (ROS), it supports real-time monitoring, simultaneous execution of multiple programs, and streamlined algorithm implementation. Its enhanced mobility allows it to walk continuously at speeds of up to 0.7 km/h, significantly improving upon the 0.3 km/h speed of the previous generation.

Designed to enhance human-robot interaction, Surena IV integrates artificial intelligence to perform speech recognition, object detection, face tracking, and action imitation. It features a voice user interface capable of speech-to-text and text-to-speech processing, enabling it to respond to commands and provide feedback in real-time. These capabilities make it a versatile platform for research applications in human-robot collaboration, industrial automation, and public interaction scenarios.