Osaka University · research humanoid
Geminoid F
A seated, remotely operated android copy of a Japanese woman that mirrors its operator's facial expressions. Height is in sitting posture.
- Price
- $110,000Cheaper than 14%
- Height
- 140 cmTaller than 29%
- Weight
- 30 kgHeavier than 13%
- Payload
- —Not published
- Speed
- —Not published
- Battery
- —Not published
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Why it matters
A retired humanoid from ATR and Osaka University (Hiroshi Ishiguro) with Kokoro.
Real-world use
Research use; acted in the play and film Sayonara
Maker
Osaka UniversityUniversity lab · Suita, Osaka, JapanUniversity research lab; ERICA was developed within the JST ERATO Ishiguro Symbiotic Human-Robot Interaction Project.
How it stacks up
Against other humanoids that publish the figure. Pick a measure.
Geminoid F is taller than 29% of the 305 other humanoids that publish a height. Bars show the 7 closest in date.
Geminoid F is heavier than 13% of the 277 other humanoids that publish a weight. Bars show the 7 closest in date.
Geminoid F has more joints than 1% of the 236 other humanoids that publish a joints. Bars show the 7 closest in date.
Geminoid F costs less than 14% of the 85 other humanoids that publish a price. Bars show the 7 closest in date.
Not published by the maker: speed, payload, battery.
Public attention
A historic robot: no longer sold or in use, so it is not ranked against current humanoids.
- No Wikipedia article of its own yet
- 2 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 2026-10-14; same method for every robot. How it is measured
What’s inside
The parts the company has talked about publicly.
- Movement
- Stationary · 12 joints
- Actuators & motors
- 12 pneumatic actuators (versus about 50 on Geminoid HI-1); air servo valves built into the body, so only a small external compressor is needed.
- Hands
- No actuated hands; motion limited to face, neck, chest and spine.
- Sensors & vision
- No on-board sensing described; operator's face is tracked by cameras and face-tracking software so the android mirrors expressions.
- Compute
- External teleoperation control unit and air-valve system.
- Battery & power
- Tethered: powered by an external air compressor.
- Materials & build
- Silicone rubber skin, fibre-reinforced plastic skull, metal and plastic frame, urethane foam padding, natural and synthetic hair.
- AI & software
- Windows; custom robot control and teleoperation software; autonomous blinking and breathing motions.
- Other details
- Copy of a woman in her twenties whose identity is kept confidential. Lab lists 165 cm height (95 cm seated) and 12 DoF (11 head, 1 torso).
Lineage
Every ATR and Osaka University (Hiroshi Ishiguro) with Kokoro humanoid in order.
DB (Dynamic Brain)2000Retired
Robovie2001Retired
Actroid (Repliee Q1)2003Retired- No public photo yetWe only show photos we're allowed to useCB2 (Child-robot with Biomimetic Body)2006Retired
Geminoid HI-12006Retired- Geminoid F2010Retired
- No public photo yetWe only show photos we're allowed to usePneuborn2011Retired
ERICA2015Research- No public photo yetWe only show photos we're allowed to useAlter 32019Research
Watch Geminoid F
Made, sold and where
Unit counts are usually company figures; analysts often disagree.
- Price
- $110,000Planned sale price about ¥10 million (~US$110,000 in April 2010) per Kokoro via IEEE Spectrum.
- How to get one
- No official buying page found
- Built
- not stated
- Sold or delivered
- Kokoro planned to sell copies at about ¥10 million (~US$110,000, 2010); no confirmed sales found
- Where it is sold or used
- Kokoro Co., Japan, with Osaka University and ATR
- Customers and pilots
- Research use; acted in the play and film Sayonara
News
The latest 2, newest first. Summaries are ours; tap through for the original.
- Sayonara
Koji Fukada’s film credits Oriza Hirata for the original story and casts Geminoid F as Leona opposite Bryerly Long as Tanya; it was released in Japan on 21 November 2015.
UNIJAPAN / Japanese Film Database - Ishiguro unveils smiling female android Geminoid F
At a press conference in Osaka, Ishiguro showed Geminoid F, with 12 actuators and a planned price of about ¥10 million.
IEEE Spectrum
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 | Geminoid FATR and Osaka University (Hiroshi Ishiguro) with Kokoro | No public photo yetWe only show photos we're allowed to useWaseda Flutist Robot WF-4RVIWaseda University (Atsuo Takanishi lab)Same job: entertainment · Both fixed in place · Both past robots |  BERTI (Bristol Elumotion Robotic Torso 1)Elumotion Ltd with Bristol Robotics LaboratorySame job: entertainment · Both fixed in place · Both past robots | No public photo yetWe only show photos we're allowed to useEveR-2 MuseKorea Institute of Industrial Technology (KITECH)Same job: entertainment · Both fixed in place · Both past robots |
|---|---|---|---|---|
| First shown | 2010-04-03 | 2011 | 2009-02 | 2006 |
| Status | Retired | Retired | Retired | Retired |
| Height | 140 cm | 170 cm | — | 170 cm |
| Weight | 30 kg | 150 kg | — | 61 kg |
| Joints | 12 | 41 | — | 23 |
| Speed | — | — | — | — |
| Payload | — | — | — | — |
| Battery | — | — | — | — |
| Price | $110,000 | — | — | — |
Sources
Figures come from press coverage. Every link below backs something on this page.
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