Musculoskeletal robot platform

a full scale humanoid robot research platform

Musculoskeletal robotics

to make robots strong

Compliant, musculoskeletal robotic systems offer several advantages, especially in situations where human and robot work in close proximity. A musculoskeletal design makes extensive use of viscous-elastic materials to emulate the muscles and tendons which enhance safety, dexterity and adaptivity in uncertain environments. It also allows reducing body weight and developmental cost, while at the same time increasing design flexibility.


what it takes to make robots strong

Compliant control for soft robots: Emergent behavior of a tendon driven anthropo-morphic arm

Georg Martius, Rafael Hostettler, Alois Knoll, and Ralf Der

Musculoskeletal Robots: Scalability in Neural Control

Christoph Richter, Sören Jentzsch, Rafael Hostettler, Jesús A. Garrido, et al.

research collaborations

making science happen

The team of over 100 students, doctoral candidates and graduates of the Technical University of Munich brings together experts from a wide variety of disciplines. Together with a network of scientists all over the world you have been working for years on the development of the humanoid robot. The Royal Institute of Technology in Stockholm (neuroprosthetics), the Chinese University of Hong Kong (algorithms for controlling the robot), Oxford University (loading of artificial tendons during their growth) and of course TUM (robotics & real-time systems, product development methods) are permanent cooperation partners.


the only open-source modular musculoskeletal robotics toolkit



The development of Roboy (mechanic and software) is conducted open source. This means that all expertise, ideas, and inventions do not belong to one specific entity, and everyone will have the chance to advance Roboy’s technology.

All of the code and CAD files are freely available on GitHub under a very permissive license (BSD 3.0 and CC-BY 4.0).

The parts required to build Roboy are kept in our sponsored instance at

The documentation of the work of the current individual teams is available on our team development space.

As the project is under heavy development, if you would like to have access, learn how to build your own, or contribute please contact


Think Musc could be valuable in your research? Get in contact with us. We’re happy to help building or build for you.

cognitive system

a real human robot interface

the roboy dialog system

to say and what to say, that is the question!

The Roboy Dialog System (RDS) is a sophisticated software module representing the cognitive capabilities of the humanoid anthropomimetic robot Roboy. The goal of the project is to implement dialog routines and knowledge extraction for a realistic human-like conversation flow which is achieved by utilizing various behaviour models represented by the State Machine (RDSM) finite automaton defined via a certain Roboy Personality description (file). Within the particular conversation flow stages, the behavioral variability is obtained by extending and redefining the common RDSM State to produce a certain social interaction. The RDMS State both as actor and as reactor regarding the internally formulated output and externally acquired input.

The architecture of the Roboy Dialog allows for flexible configuration and achieving the dialog flow tight to the user needs. Inherently it is designed for the open-domain conversation, which allows to handle unpredicted user inputs. The system can be deployed in multiple scenarios, including

In addition, Roboy Dialog System is capable of sending facial expression commands or Roboy movement action calls.

For the general knowledge information access, the interface to the DBpedia is implemented, as well to the internal graph-based memory, that allows to persistently store information across dialog sessions.


robotics papers explained in 2 minutes