HRP-4C

HRP-4C is a humanoid robot of 1580 mm height, 43 kg weight, and with 42 DOF developedin 2009.

In 2011, HRP-4C’s hardware was updated and became 1600 mm height, 46 kg weight, and 44 DOF (toe joints were added to its feet).

HRP-4

HRP-4 was developed as an R&D platform based on the same body mechanism of HRP-4C. HRP-4 has a maximum motor power of 80W making it safer to work with humans. HRP-4 is 1514mm tall with a weight of 39 kg. Each arm is 7 DoF, each hand is 7 DoF, and each leg is 6 DoF. There is 2 DoF in the waist bringing the total 34 DoF.

Notes: Team Nedo-Hydra used a modified HRP-4 at some point during the DARPA Robotics Challenge, however, I cannot find much info to confirm this

Where are they today?

HRP-4C can be seen on a display stand in a recent video by AIST.

The Nara Institute of Science and Technology and the YNL lab (also referred to as the Dynamics Control Systems Lab) at the Unvierstiy of Tokyo both have HRP-4’s. The Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier (Laboratory of Computer Science, Robotics and Microelectronics of Montpellier) has the only HRP-4 outside of Japan.