TIAGo

Source-backed capabilities

• Operating environments: healthcare service robotics, BSA Sociosanitari El Carme, Badalona; January 2024 requirements study, Configured tabletop demonstration, Prepared tabletop demonstration with color templates
• Control modes: Teleoperated, Autonomous
• Clear a table into a basket

  Demonstrated - 2023-08-31 - Detect tabletop objects and move them into a basket with the Advanced Grasping Premium package. - environment: Configured tabletop demonstration

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• Stack two colored cubes

  Demonstrated - 2023-08-31 - Locate a blue cube and place a red cube on top using color templates and the Advanced Grasping Premium package. - environment: Prepared tabletop demonstration with color templates

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• Robotic grasping

  Claimed - Grasp objects of different sizes and textures with a configured arm and end effector.

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• Remote and shared control

  Customer-site use - 2025-07-15 - PAL Robotics integrated a TIAGo Omni Base robot into BSABadalona healthcare workflows for tests including teleoperation, delivery, and patrolling tasks. - environment: healthcare service robotics

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• Video calls in a hospital trial

  Pilot - 2024-02-29 - Provide video calls during remotely operated tests at BSA El Carme. - environment: BSA Sociosanitari El Carme, Badalona; January 2024 requirements study

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• Remotely operated hospital patrol

  Pilot - 2024-02-29 - Patrol the health centre under remote control during SAFE-LY requirements testing. - environment: BSA Sociosanitari El Carme, Badalona; January 2024 requirements study

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• Remotely operated hospital deliveries

  Pilot - 2024-02-29 - Perform deliveries under remote control during a week-long trial at BSA El Carme. - environment: BSA Sociosanitari El Carme, Badalona; January 2024 requirements study

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• Customer Site

  TIAGo Pro textile-plant pilot - 2025-09-01 - CO-HAND consortium - textile manufacturing pilot - PAL Robotics deployed TIAGo Pro in the CO-HAND project for a textile-plant pilot focused on collaborative handling tasks.

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• Customer Site

  1 healthcare trial site - 2025-07-15 - BSABadalona - healthcare service robotics - PAL Robotics integrated a TIAGo Omni Base robot into BSABadalona healthcare workflows for tests including teleoperation, delivery, and patrolling tasks.

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• Customer Site

  2 hospital sites - 2020-04-15 - Hospital Municipal of Badalona / Hospital Clinic Barcelona - hospital logistics - PAL Robotics deployed TIAGo Delivery and TIAGo Conveyor robots at Hospital Municipal of Badalona and Hospital Clinic Barcelona for internal transport and logistics.

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Supply / Components

• TIAGo

  Ati Mini45 Wrist Force Torque Sensor For Tiago - force_torque_sensing - ATI Industrial Automation - ATI Industrial Automation supplies ati mini45 wrist force torque sensor for tiago for PAL Robotics TIAGo - source: docs.pal-robotics.com

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• TIAGo

  Robotiq 2f 85 2f 140 And Epick For Tiago - End Effectors - Robotiq - PAL Robotics offers optional Robotiq 2F-85, 2F-140 and EPick end effectors for TIAGo - source: docs.pal-robotics.com

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• TIAGo

  Mpu 6050 Imu For Tiago Mobile Base - Positioning & navigation - TDK-InvenSense - TDK-InvenSense supplies mpu 6050 imu for tiago mobile base for PAL Robotics TIAGo - source: docs.pal-robotics.com

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• TIAGo

  Hokuyo Urg 04lx Ug01 Laser For Tiago Omni - Perception - Hokuyo Automatic Co., Ltd. - Hokuyo URG-04LX-UG01 is an optional laser scanner for PAL Robotics TIAGo Omni - source: docs.pal-robotics.com

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• TIAGo

  Astra S Rgbd Camera - Perception - Orbbec - PAL Robotics specifies an Orbbec Astra S RGB-D camera in the TIAGo head - source: docs.pal-robotics.com

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• Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation

  2026-05-12 - Research Publication - Mobile manipulation requires coordinated control of high-dimensional, bimanual robots. Imitation learning methods have been broadly used to solve these robotic tasks, yet typically ignore the bilateral morphological symmetry inherent in such systems.

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• Whole-Body Mobile Manipulation using Offline Reinforcement Learning on Sub-optimal Controllers

  2026-04-14 - Research Publication - Mobile Manipulation (MoMa) of articulated objects, such as opening doors, drawers, and cupboards, demands simultaneous, whole-body coordination between a robot's base and arms. Classical whole-body controllers (WBCs) can solve such problems via hierarchical optimization, but require extensive hand-tuned optimization and remain brittle.

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• HEXAR: a Hierarchical Explainability Architecture for Robots

  2026-01-06 - Research Publication - As robotic systems become increasingly complex, the need for explainable decision-making becomes critical. Existing explainability approaches in robotics typically either focus on individual modules, which can be difficult to query from the perspective of high-level behaviour, or employ monolithic approaches, which do not exploit the modularity of robotic architectures.

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• LOST-3DSG: Lightweight Open-Vocabulary 3D Scene Graphs with Semantic Tracking in Dynamic Environments

  2026-01-06 - Research Publication - Tracking objects that move within dynamic environments is a core challenge in robotics. Recent research has advanced this topic significantly; however, many existing approaches remain inefficient due to their reliance on heavy foundation models.

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• frovaaa/TIAGo-w4k-adapter: Initial public release (pre-ACM)

  2025-12-23 - Research Publication - This repository provides a ROS 2 adapter for integrating the PAL Robotics TIAGo platform with the Wizard-of-Oz dashboard presented in our HRI 2026 Short Contribution "A Wizard for Kids". The adapter subscribes to standardized dashboard topics (e.g., movement, arm, gripper, sound, LEDs) and translates high-level semantic commands into TIAGo-specific ROS 2 actions and services (e.g., PlayMotion2). This release serves as a concrete example of how new robot platforms can be integrated with minimal robot-specific code, supporting rapid setup and improvised human–robot interaction experiments.

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• Searching in Space and Time: Unified Memory-Action Loops for Open-World Object Retrieval

  2025-11-18 - Research Publication - Service robots must retrieve objects in dynamic, open-world settings where requests may reference attributes ("the red mug"), spatial context ("the mug on the table"), or past states ("the mug that was here yesterday"). Existing approaches capture only parts of this problem: scene graphs capture spatial relations but ignore temporal grounding, temporal reasoning methods model dynamics but do not support embodied interaction, and dynamic scene graphs handle both but remain closed-world with fixed vocabularies.

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• Integration of the TIAGo Robot into Isaac Sim with Mecanum Drive Modeling and Learned S-Curve Velocity Profiles

  2025-10-11 - Research Publication - Efficient physics simulation has significantly accelerated research progress in robotics applications such as grasping and assembly.

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• An Ontology for Unified Modeling of Tasks, Actions, Environments, and Capabilities in Personal Service Robotics

  2025-09-26 - Research Publication - Personal service robots are increasingly used in domestic settings to assist older adults and people requiring support. Effective operation involves not only physical interaction but also the ability to interpret dynamic environments, understand tasks, and choose appropriate actions based on context.

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• Enhancing the Audio Achievement of the TIAGo Robot for Assistance in Medical Monitoring

  2025-08-01 - Research Publication - Abstract Recently, there is an increased interest in the classification of acoustic events, and critical problems arise in real-life scenarios.

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• Context Matters! Relaxing Goals with LLMs for Feasible 3D Scene Planning

  2025-06-18 - Research Publication - Embodied agents need to plan and act reliably in real and complex 3D environments. Classical planning (e.

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• Investigating the Effectiveness of a Socratic Chain-of-Thoughts Reasoning Method for Task Planning in Robotics, A Case Study

  2025-03-11 - Research Publication - Large language models (LLMs) have demonstrated unprecedented capability in reasoning with natural language. Coupled with this development is the emergence of embodied AI in robotics.

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• From Vocal Instructions to Household Tasks: The Inria TIAGo++ in the euROBIN Service Robots Coopetition

  2024-12-20 - Research Publication - This paper describes the Inria team's integrated robotics system used in the 1st euROBIN coopetition, during which service robots performed voice-activated household tasks in a kitchen setting. The team developed a modified TIAGo++ platform that leverages a whole-body control stack for autonomous and teleoperated modes, and an LLM-based pipeline for instruction understanding and task planning.

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• UNCOM: Zero-shot Context-Aware Command Understanding for Tabletop Scenarios

  2024-10-08 - Research Publication - This paper presents UNCOM, a novel hybrid framework for interpreting natural human commands in tabletop scenarios. The system integrates multiple sources of information -- speech, gestures, and scene context -- to extract structured, actionable instructions for robots.

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• EMPOWER: Embodied Multi-role Open-vocabulary Planning with Online Grounding and Execution

  2024-08-30 - Research Publication - Task planning for robots in real-life settings presents significant challenges. These challenges stem from three primary issues: the difficulty in identifying grounded sequences of steps to achieve a goal; the lack of a standardized mapping between high-level actions and low-level commands; and the challenge of maintaining low computational overhead given the limited resources of robotic hardware.

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• Rico: extended TIAGo robot towards up-to-date social and assistive robot usage scenarios

  2024-07-31 - Research Publication - Social and assistive robotics have vastly increased in popularity in recent years. Due to the wide range of usage, robots executing such tasks must be highly reliable and possess enough functions to satisfy multiple scenarios.

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• Double-Layer Soft Data Fusion for Indoor Robot WiFi-Visual Localization

  2024-07-19 - Research Publication - This paper presents a novel WiFi-Visual data fusion method for indoor robot (TIAGO++) localization. This method can use 10 WiFi samples and 4 low-resolution images ($58 \times 58$ in pixels) to localize a indoor robot with an average error distance about 1.

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• Real Time Collision Avoidance with GPU-Computed Distance Maps

  2024-07-02 - Research Publication - This paper presents reactive obstacle and self-collision avoidance of redundant robotic manipulators within real time kinematic feedback control using GPU-computed distance transform. The proposed framework utilizes discretized representation of the robot and the environment to calculate 3D Euclidean distance transform for task-priority based kinematic control.

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• neuROSym: Deployment and Evaluation of a ROS-based Neuro-Symbolic Model for Human Motion Prediction

  2024-06-24 - Research Publication - Autonomous mobile robots can rely on several human motion detection and prediction systems for safe and efficient navigation in human environments, but the underline model architectures can have different impacts on the trustworthiness of the robot in the real world. Among existing solutions for context-aware human motion prediction, some approaches have shown the benefit of integrating symbolic knowledge with state-of-the-art neural networks.

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• Integrating and Evaluating Visuo-tactile Sensing with Haptic Feedback for Teleoperated Robot Manipulation

  2024-04-30 - Research Publication - Telerobotics enables humans to overcome spatial constraints and physically interact with the environment in remote locations. However, the sensory feedback provided by the system to the user is often purely visual, limiting the user's dexterity in manipulation tasks.

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• Posture Optimization of the TIAGo Highly-Redundant Robot for Grasping Operation

  2024-03-23 - Research Publication - This study explores the optimization of the TIAGo robot’s configuration for grasping operation, with a focus on the context of aging.

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• TeleMoMa demonstrates whole-body teleoperation on PAL TIAGo++

  2024-03-12 - Research Publication - A critical bottleneck limiting imitation learning in robotics is the lack of data.

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• Sim-to-Real gap in RL: Use Case with TIAGo and Isaac Sim/Gym

  2024-03-11 - Research Publication - This paper explores policy-learning approaches in the context of sim-to-real transfer for robotic manipulation using a TIAGo mobile manipulator, focusing on two state-of-art simulators, Isaac Gym and Isaac Sim, both developed by Nvidia. Control architectures are discussed, with a particular emphasis on achieving collision-less movement in both simulation and the real environment.

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• TIAGo RL paper releases tactile reinforcement-learning environments

  2023-11-13 - Research Publication - This paper covers TIAGo RL paper releases tactile reinforcement-learning environments for TIAGo in dexterity.

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• Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers

  2023-11-13 - Research Publication - We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displacement during grasping is minimized by pausing the finger closing motion for individual joints on first contact until force-closure is established.

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• “I know how you feel”

  2022-10-20 - Research Publication - Abstract In this article, we aim to evaluate the role of robots’ personality-driven behavioural patterns on users’ intention to use in an entertainment scenario. Toward such a goal, we designed two personalities: one introverted with an empathic and self-comparative interaction style, and the other extroverted with a provocative and other-comparative interaction style. To evaluate the proposed technology acceptance model, we conducted an experiment ( N = 209) at a public venue where users were requested to play a game with the support of the TIAGo robot. Our findings show that the robot personality affects the acceptance model and three relevant drivers: perceived enjoyment, perceived usefulness, and social influence. The extroverted robot was perceived as more useful than the introverted, and participants who interacted with it were faster at solving the game. On the other hand, the int

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• Grasping learning, optimization, and knowledge transfer in the robotics field.

  2022-03-16 - Research Publication - Service robotics is a fast-developing sector, requiring embedded intelligence into robotic platforms to interact with the humans and the surrounding environment. One of the main challenges in the field is robust and versatile manipulation in everyday life activities. An appealing opportunity is to exploit compliant end-effectors to address the manipulation of deformable objects. However, the intrinsic compliance of such grippers results in increased difficulties in grasping control. Within the described context, this work addresses the problem of optimizing the grasping of deformable objects making use of a compliant, under-actuated, sensorless robotic hand. The main aim of the paper is, therefore, finding the best position and joint configuration for the mentioned robotic hand to grasp an unforeseen deformable object based on collected RGB image and partial point cloud. Due to the compl

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• Grasping Learning for Service Robots

  2021-10-10 - Research Publication - Service robotics is a fast-developing sector, requiring embedded intelligence into robotic platforms to interact with the humans and the surrounding environment. One of the main challenges in the field is robust and versatile manipulation in everyday life activities. An appealing opportunity to solve the mentioned task is to leverage on machine learning algorithms to let the robot adapt its behavior to unknown scenarios, defining the best strategy for a grasping and manipulation task in a trial and error process. In parallel, the mechanical design of compliant end-effectors able to adapt to the environment targets the same goal. These grippers represent a clever solution to the problems that arise when using sensorized hands with a high number of actuated joints, which are expensive and difficult to control. Within the described context, this work addresses the problem of finding the bes

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• TOWARDS FACILITATING LEARNING AND IMPROVING EDUCATION WITH TIAGO ROBOT

  2019-03-01 - Research Publication - 1 Centrul IT pentru Stiinta si Tehnologie, Bucharest (ROMANIA)2 University Politehnica of Bucharest (ROMANIA)

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Media library

• TIAGo manipulation workcell

  image · PAL Robotics

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• TIAGo software interface

  image · PAL Robotics

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• TIAGo component diagram

  image · PAL Robotics

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• TIAGo whole-body control

  video · PAL Robotics

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• TIAGo SeCoIIA demonstrations

  video · PAL Robotics

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Official exact-product specifications, manuals, open-source software and first-party media for TIAGo. Sibling PAL Robotics platforms are excluded.

• TIAGo technical specifications

  PDF · TIAGo family · PAL Robotics

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• TIAGo PAL OS documentation

  WEB · TIAGo / PAL OS · PAL Robotics

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• TIAGo handbook

  WEB · TIAGo · PAL Robotics

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• TIAGo robot ROS repository

  WEB · ROS 2 robot packages · PAL Robotics

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• TIAGo public tutorials

  WEB · ROS tutorials · PAL Robotics

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• TIAGo simulation packages

  WEB · ROS 2 simulation · PAL Robotics

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• TIAGo OMNI++ gains public Isaac Sim integration

  2025-10-11 - Research Publication - The release offered both detailed mecanum-wheel physics and a lighter model that directly set base velocity. Real robot trajectories informed a learned S-curve acceleration model; the paper compared simulated odometry against motion-tracked hardware paths. The public repository included robot USD assets, an omnidirectional extension, ROS 2 workspace and example controllers.

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• PAL Robotics tests teleoperated TIAGo in SAFE-LY healthcare study

  2024-02-29 - Demonstration - Remote operators tested deliveries, video calls and patrolling across morning, afternoon and night shifts at El Carme. A closing staff workshop collected feedback to refine the robot’s functions and interaction methods.

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• PAL Robotics releases Advanced Grasping software for TIAGo

  2023-08-31 - Capability - The software combined Behavior Trees, MoveIt and computer vision, with perception, grasping and placing servers exposed through ROS Actions. Included demonstrations cleared objects into a basket and stacked two cubes using table and object templates. Supported end effectors included the PAL gripper and Robotiq 2F-85, 2F-140 and EPick.

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• PAL Robotics launches TIAGo OMNI++

  2021-11-16 - Product Launch - The mecanum-wheel base enabled sideways as well as forward and rotational movement; two lidar sensors covered a 360-degree field of view. Two seven-axis arms accepted interchangeable end effectors, including PAL and Robotiq grippers, while a torso screen supported interaction research.

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Market context

Mobile manipulation robot combining a wheeled base with a robotic arm and sensor suite, designed for research and service applications in indoor environments.

• Target environment: Factories, warehouses, labs, service sites and controlled indoor environments where wheeled manipulation can operate safely.
• Workflow context: Autonomous navigation, object handling, dual-arm or arm-based manipulation, teleoperation and facility task execution.
• Customer context: Industrial operators, logistics teams, research labs and service organizations evaluating mobile manipulation.
• Deployment model: Commercial or available product positioned for customer use, integration or developer adoption.
• Commercial maturity: Publicly presented as commercial or available, with maturity depending on deployment scale and support coverage.
• Adoption constraints: Adoption depends on site fit, manipulation reliability, safety, navigation, integration effort and task economics.
• Market position: TIAGo sits in the mobile-manipulation lane, using mobility plus arms to pursue practical physical tasks.
• Adjacent products: Kinisi 01, DexForce W1, Stretch RE2, Quanta X2

Comparable Systems

• TIAGo Pro

  PAL Robotics - Mobile Manipulator