{"id":"pal-kangaroo","manufacturer":"PAL Robotics","model":"Kangaroo","country":"ES","description":"KANGAROO is a bipedal research robot from PAL Robotics of Barcelona, built for dynamic motion such as jumping, running and push recovery. It stands 1.6 m tall, drives its legs with ball-screw linear actuators and is sold to labs working on locomotion, reinforcement learning and embodied AI. Since 2025 it has been offered as a legged platform or as KANGAROO Pro with two arms.","catalog_status":"shipping","specifications":{"height_cm":160,"weight_kg":null,"payload_kg":null,"dof":null,"speed_ms":null,"battery_h":null},"capabilities":["obstacle","recover"],"source":{"url":"https://pal-robotics.com","verified_at":null,"verified_fields":[],"review_status":"requires_current_source_check"},"evidence":{"manufacturer_review":null,"mera_field_test":{"status":"not_published","report_url":null,"measured_at":null},"verification_note":"A manufacturer documentation check does not verify field performance, inventory or MERA compatibility."},"knowledge":{"summary":"KANGAROO is a bipedal research robot from PAL Robotics of Barcelona, built for dynamic motion such as jumping, running and push recovery. It stands 1.6 m tall, drives its legs with ball-screw linear actuators and is sold to labs working on locomotion, reinforcement learning and embodied AI. Since 2025 it has been offered as a legged platform or as KANGAROO Pro with two arms.","sections":[{"h":"History and launch","p":["PAL Robotics had previously built the REEM-C (2013) and TALOS bipeds. Kangaroo, which PAL dates to 2021, marked a change of approach: a new design whose legs are moved by ball-screw linear actuators, intended to survive jumps and heavy impacts.","At ICRA 2022 the team showed the robot jumping under torque control using PAL's Whole Body Inverse Dynamics (WBID) controller. In 2025 Kangaroo went on regular sale in two versions: the base model and Kangaroo Pro with two arms."]},{"h":"Design and hardware","p":["The datasheet lists a height of 1.60 m and a weight of 50-65 kg depending on configuration. Total DoF ranges from 14 to 40: 6 per leg, 2 in the torso (yaw and roll) and 4, 5 or 7 per arm. Motors sit close to the body, keeping leg inertia low, and leg length is decoupled from hip swing, which PAL says improves efficiency; a single actuator is enough for a vertical jump or a squat.","The full kinematic model of the closed-linkage legs has 76 DoF (12 actuated, 64 passive), which engineers reduce to a 16-DoF model. The actuators have integrated force sensors, and PAL designs its own motor-control electronics.","Sensing and computing include four RGB-D cameras, a 1 kHz IMU, EtherCAT with a 2 kHz control loop, a 63 V, 976 Wh battery, and two Intel i7 PCs (control and multimedia) with an optional NVIDIA Jetson GPU. Payload depends on the arms: 3-7 kg with the arm fully extended and 25-30 kg in bimanual lifting. End-effector options are a two-finger gripper and hands from Seed Robotics (RH8D) and Inspire Robots."]},{"h":"Software and AI","p":["Kangaroo runs Ubuntu LTS with ROS 2 and ros2_control. Researchers get access to the real-time loop and can command actuators in current, speed, position, impedance or force modes. PAL supplies URDF and MJCF models, MuJoCo with mjlab, pipelines for reinforcement learning, motion retargeting and imitation learning, and a library of policies for walking, push recovery, running, jumping, stair climbing, dancing and box picking. VR teleoperation is also available."]},{"h":"Applications and deployments","p":["Kangaroo is a platform for universities and research labs rather than a factory worker. PAL does not publish customer names or unit numbers."]},{"h":"Manufacturer","p":["PAL Robotics was founded in Barcelona in 2004. Besides the REEM-C, TALOS and Kangaroo humanoids it makes the TIAGo and TIAGo Pro mobile manipulators, the ARI social robot and StockBot RFID inventory robots, and it has offices in Italy and France."]},{"h":"Price and availability","p":["No price is published; PAL quotes per configuration of arms, end effectors and sensors."]}],"timeline":[["2004","PAL Robotics founded in Barcelona"],["2013","REEM-C, the company's first humanoid"],["2021","Kangaroo biped launched"],["2022-05","Torque-controlled jumps presented at ICRA 2022"],["2025","Kangaroo and two-armed Kangaroo Pro go on sale"]],"faq":[["How much does Kangaroo weigh?","50-65 kg depending on configuration, at 1.6 m tall."],["What is the difference between Kangaroo and Kangaroo Pro?","The Pro adds two arms; the base model focuses on legs and locomotion."],["What is Kangaroo's battery life?","PAL lists a 976 Wh battery but does not publish a runtime figure."],["What is Kangaroo used for?","Research on dynamic walking, running, jumping, reinforcement learning and embodied AI."],["How much does Kangaroo cost?","PAL does not publish a price; quotes are configuration-based."]],"sources":[{"title":"KANGAROO: Biped Humanoid Robot for Locomotion Research","publisher":"PAL Robotics","url":"https://pal-robotics.com/robot/kangaroo/","date":"2025"},{"title":"Kangaroo: The dynamic robot & the latest developments","publisher":"PAL Robotics","url":"https://pal-robotics.com/blog/kangaroo-biped-research-platform-updates/","date":"2022-05-31"},{"title":"Timeline","publisher":"PAL Robotics","url":"https://pal-robotics.com/timeline/","date":"2025"}],"updated":"2026-10-10"},"mera":{"rental_with_operator":false,"sale_in_offer":false,"availability":"confirmation_required","shop_url":null},"url":"https://merarobotics.com/blog/humanoids/pal-kangaroo","inquiry_url":"https://merarobotics.com/en/start?service=purchase&robot=pal-kangaroo"}