T-HR3 vs CL-1: Specs, Price & ROS Support Compared (2023)
Toyota vs LimX Dynamics — independent, side-by-side analysis.
Quick Verdict
T-HR3 leads in more DOF. Overall, T-HR3 has an edge in 1 out of 1 compared categories.
T-HR3
Toyota
CL-1
LimX Dynamics
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T-HR3 CL-1
Specifications
Research only (teleoperated). Toyota's next factory humanoid is the wheeled 'Eley' (50 kg, two-finger hands); 400,000 units planned across 60 plants from 2028 (Nikkei, Sep 2026)PricePrototype (2023), never sold; superseded by CL-3 / Oli (full-size humanoid now sold on limxdynamics.com)
151 cmHeight157 cm
75 kgWeight—
42DOF20
—Payload—
—Runtime—
—Speed1.11 m/s
YesStairsYes
NoLiDARYes
ProprietaryComputeN/A
Pros and cons at a glance
T-HR3
Pros
- 42 degrees of freedom — full-body articulation
Cons
- Still in development, no commercial availability
- Unit price not publicly disclosed (quote-on-request or enterprise-only)
- Closed software stack — no public SDK or ROS support
CL-1
Pros
- Ships with LiDAR for robust depth sensing in low-light environments
Cons
- Discontinued by the manufacturer
- Unit price not publicly disclosed (quote-on-request or enterprise-only)
Frequently asked questions
How do T-HR3 and CL-1 compare on price?
T-HR3: Research only (teleoperated). Toyota's next factory humanoid is the wheeled 'Eley' (50 kg, two-finger hands); 400,000 units planned across 60 plants from 2028 (Nikkei, Sep 2026). CL-1: Prototype (2023), never sold; superseded by CL-3 / Oli (full-size humanoid now sold on limxdynamics.com).
Is T-HR3 or CL-1 actually available to buy?
T-HR3 is in active development without commercial availability. CL-1 has been discontinued. Status reflects the vendor's published commercial position as of the last review and can change between announcement and actual delivery.
Which is better for ROS-based development: T-HR3 or CL-1?
T-HR3 has no ROS support; CL-1 has ROS 1 only. For research and multi-vendor robotics stacks, native ROS 2 is the strongest signal of ecosystem maturity.
Does T-HR3 or CL-1 use LiDAR?
CL-1 ships with LiDAR for depth sensing; T-HR3 does not. LiDAR adds cost and complexity but improves obstacle detection in low-light or low-contrast environments.
Last updated: 2023