Quick survey of wheeled-platform humanoids (that I know of)
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Alan Timm
Jun 20, 2026, 11:43:18 AM (5 days ago) Jun 20
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Carls asked several months ago if I knew of any humanoid robots on the horizon with a wheeled base. Here are the 3 that are currently on my radar.
What do you think? Think these are more practical than legs? Cheaper?
Eno from Genesis AI (My Personal Favorite)
Memo from Sunday Robotics
G1-D from Unitree Robotics
Alan Timm
Jun 21, 2026, 11:52:36 AM (4 days ago) Jun 21
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So uh... I might have missed a few. (Eno is still my favorite though)
How many of these are still in active development? and which ones will make it to production? Who knows.
Last year i started on our own hall of humanoids. I think I'm going to replace that with a link to humanoid.guide. so many robots!
Chris Albertson
Jun 21, 2026, 4:40:02 PM (4 days ago) Jun 21
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The best ones are able to lean left-right and especially fore-aft.
We all know what the “center of gravity” (CG) is, but with something like a humanoid, we really need to have control over the Zero Moment Point (ZMP). ZMP is like CG, but when you take into consideration accelerations. When motionless ZMP=CG. Something as tall as a humanoid with such a small base under it and then carrying a load is going to have to either move like a snail or be able to lean into movements to keep the predicted ZMP under its base
I see that most of them do this and have a pivot either at the base or at the waist. A few have both. I agree that “Eno” is good.
I think most of these robots were never intended to go into production, as they were research tools
We all know what the “center of gravity” (CG) is, but with something like a humanoid, we really need to have control over the Zero Moment Point (ZMP). ZMP is like CG, but when you take into consideration accelerations. When motionless ZMP=CG. Something as tall as a humanoid with such a small base under it and then carrying a load is going to have to either move like a snail or be able to lean into movements to keep the predicted ZMP under its base
I see that most of them do this and have a pivot either at the base or at the waist. A few have both. I agree that “Eno” is good.
I think most of these robots were never intended to go into production, as they were research tools
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