[Resources on Telenoid]

Osaka University and Advanced Telecommunications Research Institute International (ATR) have collaboratively developed a new portable teleoperated android robot, “Telenoid™ R1,” that can effectively transfer peoples’ presence.

Teleoperated android robots in the past, such as Geminoid™ HI-1 (developed by ATR) and Geminoid™ F (developed by Osaka Univ. and ATR) owned appearances similar to actual persons, and were intended to transfer presences of actual persons. The new Telenoid™ R1 was designed to appear and to behave as a minimalistic human; at the very first glance, one can easily recognize the Telenoid™ as a human while the Telenoid™ appear as both male and female, as both old and young. By this minimal design, the Telenoid™ allows people to feel as if an acquaintance in the distance is next to you. Moreover, Telenoid™’s soft and pleasant skin texture and small, child-like body size allows one to enjoy hugging and communicating with it easily.

The term Telenoid™ is a new term coined from a prefix Tele-, as Telephone and Teleoperation, and the Latin postfix -oides which indicates similarity, as Humanoid. Using Telenoid™s, we will investigate the essential elements for representing and transferring humanlike presence. In practical usage, we expect Telenoid™ to be used as a new communication media,

Features of Telenoid™ R1 include:

Hardware specifications
Telenoid™ R1 Telenoid™ R2 Telenoid™ R2w Telenoid™ R2l Telenoid™ R3 Telenoid™ R3b Telenoid™ R4
Release Aug. 2010 Mar. 2011 Jan. 2012 Mar. 2012 Nov. 2012 Jun. 2013 Jul. 2013
Height Approx. 80cm Approx.70cm Approx.50cm
Weight Approx. 5kg Approx. 3kg Approx. 4kg Approx. 2kg Approx. 3kg Approx. 3.5kg Approx. 3.5kg
Sensor None One camera, two microphones, and one posture sensor (3 axes accelerometer and 2 axes gyro) None two microphones
Actuator Servo motor
Power External DC power resource Battery External DC power resource Battery
CPU One microcontroller (ARM7 60Hz) is embedded. An external PC is used for Telenoid control. One microcontroller (Arduino) is embedded. An external PC is used for Telenoid control. One embedded computer (beaglebone) is embedded.
Degree of freedom 3 for eyeballs, 1 for mouth, 3 for neck, and two for amrs 1 for mouth, two for neck, and two for arms 3 for eyeballs, 1 for mouth, 3 for neck, and two for amrs
Exterior material Silicone Polyvinyl chloride
Improved point Downsizing, Adding sensors, Changing exterior material Wireless connection between Telenoid and external PC Weight saving Weight saving & Wireless connection between Telenoid and external PC Embedded computer Design change

Telenoid R4

Telenoid R4 システム概要

Telenoid R4 is the 4th-generation Telenoid that is refined based on our observation in field studies.


Development of Telenoid was partially supported by Grant-in Aid for Scientific Research (S), KAKENHI (20220002) [Principal Investigator: Hiroshi Ishiguro (Professor of Osaka University, ATR fellow) and JST CREST (Core Research of Evolutional Science & Technology) research promotion program]