TWENDY-ONE vs HERB (Home Exploring Robot Butler) vs Justina

Measure	TWENDY-ONE	HERB (Home Exploring Robot Butler)	Justina
Maker	Waseda University (Shigeki Sugano lab)	Carnegie Mellon University (later University of Washington), Siddhartha Srinivasa lab	UNAM Bio-Robotics Laboratory, School of Engineering (team Pumas, Jesus Savage)
Country	Japan	United States	Mexico
Status	Research	Research	Research
First shown	2007-11	2006	2006
Released	—	—	—
Price	—	—	—
Height	147 cm	—	—
Weight	111 kg	—	—
Top speed	—	—	—
Payload	—	—	—
Battery	—	—	—
Joints (DoF)	—	—	—
Moves on	Wheels	Wheels	Wheels
Hands	dexterous	dexterous	simple
Built for	care, home, research	research, home	research, home
Units built or sold	research prototype · never sold	1 evolving platform (Busboy 2006, HERB 1.0 2008, HERB 2.0 2010) · Not sold; research robot	—

Figures are what makers or the press published; “—” means not published. Each robot's profile links to its sources.

Popular comparisons

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• Unitree Dual-Arm Humanoid (R1-A5 / R1-A7 / R1-A5-D / R1-A7-D) vs D1
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How comparisons are chosen

Every robot page, the suggestions above and the popular list follow the same rules, so a comparison is never a random pick. You can still compare any two robots yourself with the menus at the top.

1. Like with like. Humanoids are compared with humanoids, and a machine only with its own type: a robot dog with robot dogs.
2. Another maker. A maker’s own models are listed on its page instead.
3. Moves the same way. Walking robots with walking robots, wheeled with wheeled, fixed upper bodies with fixed upper bodies.
4. Same stage. Robots on sale or in pilots with each other; prototypes with prototypes; research platforms with research platforms; past robots with robots of their time.
5. A shared main job. At least one job in common, such as factory work, retail or care. Broad labels like research, education or general-purpose only count when a robot has nothing more specific.
6. Close in time, size and price. First shown within two years, in the same size class (full size from 150 cm, mid size 100 to 149 cm, small under 100 cm) and priced within three times of each other when both prices are published. If fewer than two robots pass, these three are relaxed and the page says the matches are the nearest ones.

Under each peer’s name, the page lists which of these it shares. Closer size and price, and more jobs in common, put a robot higher in the list.