TOCABI

TOCABI (Torque-controlled CompliAnt BIped) is a 1.8 m, 100 kg, 33-DOF humanoid developed at Seoul National University's DYROS laboratory under Professor Jaeheung Park, with industrial design from NJIT. The lower body was built from 2013-2014 and the upper body completed in 2021, when the robot debuted at the ANA Avatar XPRIZE semifinals as a full-size avatar that streams stereo vision and audio to a VR operator. It is often misattributed to KAIST, but the project and team are based at SNU. Torque sensing at every joint and compliance control are central to its design for safe physical interaction.