Close-up of the Harfy 1 robot's metal identification plate marked HARFY, Model Harfy 1, and AutoGence, L.L.C.

Harfy wheeled humanoid robot operating in an indoor robotics test lab

Side rendering of Harfy demonstrating a low articulated posture

Rendering of Harfy navigating an indoor living space

Real Harfy robot moving indoors with its display face and two grippers visible

AutoGence · Robot Kit

Harfy 1

$3,999.00

~~$9,999.00~~

Product details

Fully assembled and built with commercial-grade components, Harfy runs right out of the box. It ships with planetary-reducer joint modules, stereo camera, LiDAR, and IMU pre-installed and ROS 2-ready. Harfy is designed for extensibility and backed by comprehensive documentation, including quick starts, tutorials, and APIs. Working VLN/VLA models are included, and the AI software is open source and customizable for DIY, research, and education.

20 DoF total, including one actuated gripper on each arm that serves as a hand
ROS 2 compatible (Humble and above)
LeRobot compatible
Three-tier APIs:
- Tier 1: C++ control-board API for maximum performance and flexibility
- Tier 2: ROS 2-wrapped APIs for rapid integration
- Tier 3: Python and JavaScript APIs for scripting and application control
Comprehensive documentation with quick-start instructions, tutorials, APIs, and examples
Working VLN/VLA models that can be modified, fine-tuned, and extended
Active community support