SURENA IV

The fourth generation of Iran's SURENA humanoid robot series, developed at the Center of Advanced Systems and Technologies (CAST) at the University of Tehran under Professor Aghil Yousefi-Koma. SURENA IV has 43 degrees of freedom — a major leap from SURENA III's 31 — enabling force-controlled gripping of objects with varying shapes and materials. It walks continuously at 0.7 km/h (double SURENA III's speed), handles uneven terrain using novel sole contact sensors, and performs whole-body motion planning including writing and ball-kicking. AI capabilities include face detection, object recognition, skeleton-based whole-body imitation, and speech recognition/synthesis. Built lighter than its predecessor through topology optimization, compact custom actuators, and SLA 3D-printed covers. Control loops run at 200 Hz via FPGA. The IEEE has recognized the SURENA series among prominent humanoid robots worldwide.