Franka Emika
Franka Emika Panda
From a learning point of view
The Panda is the arm most robot-learning papers of 2019–2024 were run on, so it anchors a large share of the evidence in this database: DROID was collected on it, OpenVLA and Octo were fine-tuned on it, and HIL-SERL reports 100% success on insertion and assembly tasks with it. It is no longer sold; the FR3 is its replacement with the same kinematics, which is why the two are listed separately but should be read together.
Good for learning
- Largest body of published learning results of any arm
- 1 kHz torque control
- Shares kinematics with the FR3
Watch out for
- No longer sold
- Older safety controller than the FR3
- 3 kg payload
Simulators
mujocoisaac_labpybullet
Public datasets on this robot
DROIDOpen X-Embodiment (many Franka datasets)
Control & SDK
Franka Control Interface with libfranka at 1 kHz (torque, velocity, Cartesian). Discontinued in 2023 and replaced by the FR3, which shares its kinematics.
Specs
- Manufacturer
- Franka Emika
- Category
- Arm
- Degrees of freedom
- 7
- Payload
- 3 kg
- Reach
- 855 mm
- Price
- Not disclosed
- Availability
- Discontinued
Reviewed results on this robot (5)
| Task | Algorithm | Maturity | Success | n | Grade | Year |
|---|---|---|---|---|---|---|
| Peg and connector insertion | Diffusion Policy | Lab | 27% | 100 | A | 2024 |
| Cable and deformable handling | HIL-SERL (human-in-the-loop RL) | Lab | 100% | 100 | A | 2024 |
| Small-part assembly | HIL-SERL (human-in-the-loop RL) | Lab | 100% | 10 | B | 2024 |
| Peg and connector insertion | HIL-SERL (human-in-the-loop RL) | Lab | 100% | 100 | A | 2024 |
| Pick and place | OpenVLA | Lab | — | — | B | 2024 |