Agility Cassie vs PUDU D9
Generated from the registry · revision 2026-09-26 · openness out of 100
Cassie has 32 fewer degrees of freedom (10 vs 42) than PUDU D9. Openness score: Cassie 20, PUDU D9 0 (of 100); only Cassie publishes SIM. Availability: Cassie research only, PUDU D9 not for sale.
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Side by side
■ rows differ| Field | Agility RoboticsAgility Cassie | Pudu RoboticsPUDU D9 | Δ first − second |
|---|---|---|---|
| Identity | |||
| Maker (differs) | Agility Robotics | Pudu Robotics | |
| Class (differs) | Biped | Humanoid | |
| Status (differs) | Discontinued | Active | |
| Availability (differs) | Research only | Not for sale | |
| Country (differs) | United States | China | |
| Year (differs) | 2017 | 2024 | |
| Specifications | |||
| Height | —unsourced | 170cm | |
| Mass | —unsourced | 65kg | |
| Degrees of freedom (differs) | 10 | 42 | −32 (-76%) |
| Payload | —unsourced | 20kg | |
| Top speed | —unsourced | 2m/s | |
| Runtime | —unsourced | —unsourced | |
| Battery capacity | —unsourced | 720Wh | |
| Price | Not for sale | Not for sale | |
| Actuators | —unsourced | Pudu joint modules (352 N·m max torque) | |
| Compute | —unsourced | 275 TOPS onboard | |
| Sensors | —unsourced | RGB, RGB-D cameras, tactile sensors, IMU | |
| Openness and provenance | |||
| Openness bar | |||
| Openness score (differs) | 20/ 100 | 0/ 100 | +20 |
| CAD (25) | not public | not public | |
| Bill of materials (20) | not public | not public | |
| Sim model (URDF/MJCF) (20) (differs) | public | not public | |
| Firmware (15) | not public | not public | |
| Software (10) | not public | not public | |
| Trained policies (10) | not public | not public | |
| Verification level (differs) | L2 | L0 | |
| Sources (differs) | 3 | 2 | |
| Last checked | 2026-09-24 | 2026-09-24 | |
A dash is an unsourced figure, not zero. Sources for each robot are listed on its spec sheet: Cassie, PUDU D9.
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