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🇩🇪German Aerospace Center (DLR)·Germany·Prototype

Agile Justin

德国航空航天中心

DLR's 53-DOF torque-controlled humanoid for learning-based dexterous manipulation.

PrototypeVerified Last verified 31 Oct 2026
Official site Suggest a correction
Height191 cm
Degrees of freedom53
Arm payload15 kg
Top speed7.2 km/h
Battery life1 h
Starting pricePrice on request
MakerGerman Aerospace Center (DLR)
First shown—
StatusPrototype
Form factorFull-size
LocomotionWheeled
Updated31 Oct 2026
ResearchIndustrialDexterous hands53 DOF1 kHz whole-body controlTorque sensing in all jointsDLR-Hand IITactile sensing15 kg payload

What it is

Agile Justin is the German Aerospace Center's torque-controlled humanoid research platform, an upgraded successor to the 2006 Table Justin and 2009 Rollin' Justin. It stands 1.91 m and combines a 45 kg upper body with a 150 kg mobile platform for 53 degrees of freedom: an eight-DOF base, two seven-DOF arms, two 12+1-DOF DLR-Hand II hands, a three-DOF torso and a two-DOF neck. Every joint is torque-sensed and whole-body control runs at 1 kHz, supporting work on ball catching, Mars-habitat construction, in-hand manipulation and grasp learning with zero-shot sim-to-real transfer.

Highlights

0153 DOF with torque sensors in every joint.
021 kHz whole-body control across all degrees of freedom.
03DLR-Hand II with 12+1 DOF per hand.
04Tactile skin at 1-5 cm resolution on the body and 2 mm on the hands.
051.91 m tall, 15 kg payload, 7.2 km/h platform speed.

The numbers

Body
Height191 cm
Weight195 kg
Form factorFull-size
Motion & power
LocomotionWheeled
Degrees of freedom53
DOF breakdown53 DOF: 8 platform, 2x7 arms, 2x12+1 hands, 3 torso and 2 neck.
Arm payload15 kg
Top speed7.2 km/h
Battery life1 h
ActuatorsDLR torque-controlled electric joints with integrated torque sensing.
Compute, sensing & hands
ComputeFour onboard Intel Xeon quad-core computers plus an external GPGPU server and cloud access.
SensingHead with two stereo cameras and RGB-D cameras; joint torque sensors in all 53 DOF; tactile skin with 1-5 cm resolution on the body and 2 mm on the hands.
HandsDLR-Hand II, 12 DOF plus one additional DOF per hand.
Hand DOF12

Platform & deployment

AvailabilityResearch platform at DLR's Institute of Robotics and Mechatronics; not commercially available.
Target marketAcademic and institutional robotics research.
Software / OSDLR whole-body control and learning stack, including learning-based motion planning and tactile in-hand manipulation policies.
Deployments & partnersDLR Autonomous Learning Robots Lab; research demonstrations in space and elderly-care scenarios.
Safety & certificationsTorque sensing in all joints and 1 kHz whole-body control for compliant, safe physical interaction.

Evidence trail

Claims on this profile are linked to primary reporting and manufacturer material where available.

01DLR - Agile Justin technical data02DLR - Agile Justin brochure (2023)03Wikipedia - Justin (robot)

Specifications are sourced from public materials and may change. Always confirm commercial terms with the manufacturer.

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