Humanoid & robot atlas
Musashi
Photo: JSK Laboratory, University of Tokyo (official image), from arxiv.org. Image policy
ResearchJapan

JSK Laboratory, University of Tokyo · research humanoid

Musashi

A modular musculoskeletal humanoid built from standard joint modules, muscle modules and bone frames, with joint-angle sensors, muscle-tension sensing up to 500 N, force-sensing feet and fingertips, and a movable camera eye unit. It succeeds Kengoro and was presented at IROS 2019; a wheeled version, Musashi-W, followed.

Price
—Not published
Height
—Not published
Weight
—Not published
Payload
—Not published
Speed
—Not published
Battery
—Not published
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Why it matters

In 2024 its team had it drive a small electric car, working the pedals and steering wheel with its muscle-driven body.

Real-world use

No customers or deployments reported yet.

Timeline

First shown
2019-11
Released
Not yet
IROS 2019, Macau

Maker

JSK Laboratory, University of TokyoUniversity lab · Tokyo, Japan

University research lab.

Public attention

How much public attention Musashi gets, from open data.

  • No Wikipedia article of its own yet
  • No recent press stories listed yet

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

No component details published yet.

Hands
dexterous
Movement
Walks on legs

Lineage

Every University of Tokyo JSK Lab (Kento Kawaharazuka et al.) humanoid in order.

  1. H6H62000Retired
  2. H7H72001Retired
  3. KentaKenta2001Retired
  4. KotaroKotaro2005Retired
  5. KojiroKojiro2007Retired
  6. KenshiroKenshiro2012Research
  7. No public photo yetWe only show photos we're allowed to useJAXON2015Research
  8. KengoroKengoro2016Research
  9. MusashiMusashi2019Research

Made, sold and where

No production or sales figures published yet.

Price
Not published
How to get one
No official buying page found

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. How we choose

Full comparison
MeasureMusashiMusashiUniversity of Tokyo JSK Lab (Kento Kawaharazuka et al.)NimbRo-OP2XNimbRo-OP2XUniversity of Bonn (Autonomous Intelligent Systems group)Same job: research · Both walk · Both research platformsNimbRo-OP2NimbRo-OP2University of Bonn (Autonomous Intelligent Systems group)Same job: research · Both walk · Both research platformsTOCABITOCABISeoul National University Dynamic Robotics Systems Lab (DYROS), with NJIT industrial designSame job: research · Both walk · Both research platforms
First shown2019-112018-062017-072021-09
StatusResearchResearchResearchResearch
Height—135 cm135 cm180 cm
Weight—18 kg18 kg100 kg
Joints——1833
Speed————
Payload————
Battery————
Price————

Sources

Figures come from a published paper. Every link below backs something on this page.

arXiv Component Modularized Design of Musculoskeletal Humanoid Platform Musashi to Investigate Learning Control Systems (IROS 2019) arXiv Toward Autonomous Driving by Musculoskeletal Humanoids: A Study of Developed Hardware and Learning-Based Software New Atlas Musashi musculoskeletal humanoid learns to drive a car (2024)

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