Toyota Research Institute · care humanoid
Human Support Robot
HSR
A compact wheeled helper for people with limited mobility, with one folding arm and a head camera; its body rises to 135 cm. Included because the brief counts it, but it has a single arm and is not a full humanoid.
- Price
- —Not published
- Height
- 100 cmTaller than 8%
- Weight
- 37 kgHeavier than 22%
- Payload
- 1.2 kgCarries more than 2%
- Speed
- 0.8 km/hFaster than 2%
- Battery
- —Not published
Not sure this is the one? Find the best robot for your job Starts with: help at home. Five more quick questions.
Why it matters
Became a standard platform for RoboCup@Home and a shared research tool for home-assistance robots.
Real-world use
Standard robot for the RoboCup@Home league and World Robot Summit; used at university labs in Japan and the US and at the Tokyo 2020 Games.
Timeline
- Released
- Not yet
Maker
Toyota Research InstituteCompany · founded 2016 · Los Altos, California, United StatesToyota subsidiary; launched with $1 billion over five years.
How it stacks up
Against other humanoids that publish the figure. Pick a measure.
Human Support Robot (HSR) is taller than 8% of the 305 other humanoids that publish a height. Bars show the 7 closest in date.
Human Support Robot (HSR) is heavier than 22% of the 277 other humanoids that publish a weight. Bars show the 7 closest in date.
Human Support Robot (HSR) is faster than 2% of the 122 other humanoids that publish a speed. Bars show the 7 closest in date.
Human Support Robot (HSR) carries more than 2% of the 132 other humanoids that publish a payload. Bars show the 7 closest in date.
Human Support Robot (HSR) has more joints than 1% of the 236 other humanoids that publish a joints. Bars show the 7 closest in date.
Not published by the maker: battery, price.
What it has been shown doing
1 of 14 skills we track, each from a public video or report. Demos can be staged or remote-controlled; we say so when the source does.
- Pick & sorttidy-up task: picks trash items off the floor and puts them in a basket in a mock apartment; fetch-and-carry from shelves · Mar 2019 · robomechjournal.springeropen.com
Not shown yet:AssembleFoldKitchenToolsFineStairsTerrainGet upRunJumpCarryOn siteAutonomous
Public attention
How much public attention Human Support Robot (HSR) gets, from open data.
- No Wikipedia article of its own yet
- 3 news stories from reputable press listed on this page
Measures how much people read and write about a robot, not how good it is. Measured 2026-10-13; same method for every robot. How it is measured
What’s inside
The parts the company has talked about publicly.
- Movement
- Wheeled base · 11 joints
- Actuators & motors
- 11 motors giving 11 degrees of freedom: neck 2, arm 4, gripper 1, torso lift 1, wheeled base 3.
- Hands
- A single claw-like gripper on a folding arm, with a force sensor and wide-angle camera in the hand; it can also suck up thin objects. Holds items up to 1.2 kg and 130 mm wide (Toyota).
- Sensors & vision
- Base: lidar, 6-axis IMU and a magnetic-tape boundary sensor. Head: Asus Xtion PRO Live depth camera, stereo camera, wide-angle camera and microphone array. Hand: force sensor and wide-angle camera.
- Compute
- Intel CPU plus NVIDIA GPU on board.
- Battery & power
- Lithium-ion; capacity not published.
- Materials & build
- Steel, aluminium and 3D-printed parts.
- AI & software
- Ubuntu Linux and ROS with Toyota's own navigation, manipulation and perception stack; controlled by voice or tablet, and family members can operate it remotely with their face and voice relayed.
- Other details
- Telescoping cylindrical body (2012 prototype 830-1,330 mm tall, 32 kg, 3 km/h); the 2015 version is about 37 kg with a 0.8 km/h top speed. Moving parts are designed not to produce large forces.
Named suppliers:NVIDIAROS (Open Robotics)
Lineage
Every Toyota Motor Corporation humanoid in order.
Toyota Partner Robot (walking type)2004Retired
Toyota Partner Robot (violin-playing)2007Retired
Toyota Partner Robot (running humanoid)2009Retired- Human Support Robot (HSR)2012Research
Kirobo2013Retired
T-HR32017Research- No public photo yetWe only show photos we're allowed to useCUE (first generation)2018Retired
- No public photo yetWe only show photos we're allowed to useCUE32019Retired
CUE62022Research
Punyo2024Research
CUE72026Research
Toyota Research Institute also makes 1 machine and 1 vehicle. See every Toyota Research Institute robot
Watch Human Support Robot (HSR)
Made, sold and where
Unit counts are usually company figures; analysts often disagree.
- Price
- Not published
- How to get one
- No official buying page found
- Sold or delivered
- Not sold; Toyota lends HSRs to partner organisations (Toyota UK, 2015).
- Where it is sold or used
- Japan, United States and other research labs
- Customers and pilots
- Japan Service Dog Association and Foundation for Yokohama Rehabilitation Service (in-home trials, 2011); HSR developer community from Sept 2015 (target about 10 groups by April 2016); standard platform for RoboCup@Home and World Robot Summit teams
News
The latest 3, newest first. Summaries are ours; tap through for the original.
- HSR developer community launches
Toyota began lending HSRs to universities, labs and companies in a developer community, after a Tokyo hackathon in late August 2015.
Toyota UK Media - HSR shown at Tokyo home-care expo
The prototype was exhibited at the International Home Care and Rehabilitation Exhibition 2012 in Tokyo.
Toyota Motor Corporation - Toyota announces Human Support Robot
Toyota revealed a home-help robot that fetches objects for people with limited mobility.
Toyota Motor Corporation
Side by side with its peers
Picked by the same rules for every humanoid: another maker’s robot that moves the same way, is at the same stage and does at least one of the same main jobs, first shown within two years. Closer size and price rank higher. Few robots match closely, so these are the nearest matches. How we choose
| Measure | Human Support Robot (HSR)Toyota Motor Corporation |  Agile JustinGerman Aerospace Center (DLR)Same job: home · Both on wheels · Both research platforms |  Rollin' JustinGerman Aerospace Center (DLR)Same job: home · Both on wheels · Both research platforms |
|---|---|---|---|
| First shown | 2012-09-21 | 2012-01 | 2008-06 |
| Status | Research | Research | Research |
| Height | 100 cm | 191 cm | 191 cm |
| Weight | 37 kg | 195 kg | 200 kg |
| Joints | 11 | 53 | 51 |
| Speed | 0.8 km/h | 7.2 km/h | 7.2 km/h |
| Payload | 1.2 kg | 15 kg | 20 kg |
| Battery | — | 1 h | 1 h |
| Price | — | — | — |
Sources
Figures come from press coverage. Every link below backs something on this page.
Photos and logos only identify each robot and its maker. Simbeing is not affiliated with, sponsored by or endorsing any company, and nothing here is advertising. Figures are for statistics only and are not advice of any kind. Terms of use