Dexterous hand
embodiment
Handroid keeps a human-hand-like DoF layout for manipulation, teleoperation, and policy learning.
A dex hand when
manipulation matters.
A humanoid when
locomotion matters.
Dexterous hand
Shared mechanical
grammar
The same compact modules are reassigned across fingers, arms, legs, and base actuation.
Humanoid
embodiment
The platform crosses into locomotion and loco-manipulation without becoming a different robot.
Design
Explode, inspect, reassemble.
Handroid v1.0Structure
27 DoF morphology map
Finger joints double as humanoid limbs, making the mapping legible instead of ornamental.
Electronics
Integrated control board
Power, sensing, status, and actuator management are packaged for repeatable desktop deployment.
Demos
Manipulation, locomotion, and long-horizon behavior.
Long Horizon
Mode switching across an extended task
Dex-Hand
DP grasping
In-hand Reorientation
Trained in simulation with PPO and deployed on the real Handroid hand, the policy runs at 30 Hz and maintains a 3D-printed cube in hand.
Finger Teleop
Finger-opposition and fist-closing teleoperation validate the hardware and provide motion priors for learning.
Bottle Cap Placement
Handroid picks up a flat cap and places it at a target location, testing thin-object control.
Cup Pick-and-Place
Handroid performs pick-and-place with a metal cup weighing approximately 270 g.
Cup Stacking
Stacking deformable cups demonstrates potential for force-aware manipulation and compliant contact.
Glove Removal
Handroid extracts a rubber glove from the box, showing dexterity with flexible objects.
Dual-Object Grasping
Handroid grasps two objects simultaneously, demonstrating adaptability in a single action.
Paper Grasping
Handroid picks up a sheet of paper and places it into a basket, highlighting fine manipulation.
Pouring Water
Handroid grasps a water-filled bottle and pours water into a cup during dynamic manipulation.
Humanoid Pick-and-Place
Handroid carries a tap wrench to a target area and places it into a basket in humanoid mode.
Locomotion Commands
Squatting, moving forward and backward, and turning validate basic locomotion capability.
Push-up
Independent push-up motions demonstrate the support and payload capabilities of the arm structure.
Pull-up
Interaction with a human operator validates upper-body usability in contact-rich tasks.
Abstract
Morphology is a key factor that shapes a robot's functional boundaries, task space, and research paradigm. To break the morphological boundary between dexterous hands and humanoid robots and enhance robotic adaptability across diverse tasks, we introduce Handroid, a desktop-scale robotic system that integrates dexterous-hand and humanoid embodiments within a single platform. Handroid has 27 DoFs, a compact size of 0.33 m, and a weight of 2.05 kg. Through teleoperation and reinforcement learning experiments, we demonstrate Handroid's hardware capabilities and application potential in dexterous manipulation, humanoid locomotion, and loco-manipulation tasks that combine both embodiments.
Citation
BibTeX
@misc{li2026handroid,
title={Handroid: Bridging Dexterous Hand and Humanoid},
author={Ruogu Li and Chenyang Ma and Sikai Li and Zhenyu Wei and Yunchao Yao and Haochen Shi and C. Karen Liu and Shuran Song and Mingyu Ding},
year={2026},
url={https://handroid-v1.github.io/}
}