Mirokaï by Enchanted Tools vs TIAGo Pro by PAL Robotics 2025

Mirokaï is a compact humanoid with dimensions 123 cm x 52.5 cm x 50 cm and a mass around 29 kg, using a ball‑based mobile platform and animation‑style exterior focused on social presence and lightweight operation. TIAGo Pro is physically larger and heavier with variable height 120–155 x 50 x 72 cm and mass ~95 kg, built as a robust mobile manipulator with conventional wheeled base and industrial‑grade structural components. The two platforms reflect different tradeoffs: Mirokaï emphasizes low mass and expressive form for public interaction, while TIAGo Pro emphasizes structural heft and payload capacity for manipulation and prototyping. Materials and joint architectures differ accordingly, with Mirokaï optimized for safe social contact and TIAGo Pro for sustained manipulation workloads.

Mirokaï navigates indoors using Visual SLAM (VSLAM) with social awareness and reports speeds around 3.2 km/h (0.8–0.9 m/s) on a spherical/omnidirectional base enabling agile, human‑paced movement. TIAGo Pro uses laser‑based SLAM (LiDAR) with longer‑range self‑localization and obstacle avoidance and a top speed of 1.5 m/s (5.4 km/h), reflecting a design for faster transit and long‑range mapping in mapped facilities. Mirokaï’s VSLAM and social navigation optimize proxemic behavior and interaction in crowded public spaces, whereas TIAGo Pro’s LiDAR SLAM favors accurate mapping, loop closure and navigation to arbitrary map points. Both support autonomous navigation and teleoperation, but sensor modalities and base designs produce different operational envelopes.

Mirokaï carries a dense multi‑camera and proximity array (2 RGB‑D cameras, 2 infrared cameras, 9 time‑of‑flight cameras, 6 ultrasound sensors, 4 microphones, 3 IMUs, torque sensors and hand contact/Hall sensors) to enable 360° perception and rich HRI capabilities. TIAGo Pro bundles 2x LiDAR units (10–25 m, 360° FoV), an RGB‑D camera (Intel RealSense D435), IMU, encoders, force/torque sensors at the wrist and joint torque sensing, plus a 4‑mic array and motor current feedback for situational awareness. Mirokaï’s sensor set targets multimodal social perception and close‑range object handling, while TIAGo Pro’s LiDAR and wrist F/T sensors prioritize mapping accuracy and manipulation feedback. Both platforms provide microphones and IMUs, but their complementary sensor choices reflect different perception tradeoffs.

Mirokaï uses onboard learned behaviors, VLMs and multi‑LLM integrations for real‑time speech recognition, multilingual dialogue and social awareness tied to its VSLAM navigation and grasping routines. TIAGo Pro relies on ROS 2–based frameworks supporting learned behaviors, teleoperation and autonomous navigation/manipulation workflows via standard ROS tooling and user‑supplied models. Mirokaï’s stack is oriented toward integrated HRI, expressive animation and out‑of‑the‑box interaction primitives, while TIAGo Pro emphasizes modularity for research and deployment with ros_control and ros2_controllers for custom AI stacks. Both support programming in Python and C++ and can execute learned behaviors, but Mirokaï foregrounds VLM/LLM interaction features versus TIAGo Pro’s developer‑centric ROS 2 ecosystem.

Both platforms report battery lifetimes described in multi‑year terms for battery usable life (3–5 years typical), with Mirokaï optimized for repeated short public‑space missions and TIAGo Pro sized for longer operational demands and heavier loads. Reported operating speed and mass differences imply different runtime profiles: Mirokaï’s lighter 29 kg mass and omnidirectional ball base favor lower mechanical power draw during short tasks, while TIAGo Pro’s 95 kg mass and higher top speed support extended transit and manipulation at higher energy cost. Specific runtime per charge is not provided in the source data, so direct per‑charge endurance comparisons cannot be made from the supplied specs. Both indicate typical battery service life rather than single‑use runtime metrics.

Mirokaï is specified for guiding and informing visitors, carrying trays and light packages, repetitive manipulation tasks and social engagement in public spaces such as hotels, hospitals and airports. TIAGo Pro is specified for human‑robot interaction, pick‑and‑place, telepresence, healthcare assistance and lab prototyping, supporting heavier manipulation and research integrations. For pure social logistics and lightweight HRI, Mirokaï’s compact form and perception set align closely with those applications, while TIAGo Pro better fits scenarios requiring higher payloads, manipulation robustness and ROS‑driven integration. Both support collaborative modes and emergency stop features for deployment in human environments.

Mirokaï runs a custom Linux OS with ROS 2 compatibility and provides APIs for Python and C++, with integrated VLM/LLM features and HRI primitives exposed for developers. TIAGo Pro is natively ROS 2 based, supports ros_control and ros2_controllers, and exposes navigation, manipulation and HRI APIs in Python and C++ tailored for research and industrial prototyping. The two ecosystems enable developer extension, but TIAGo Pro’s out‑of‑the‑box ROS 2 tooling and RViZ plugin support are optimized for labs and integrators, whereas Mirokaï packages additional integrated speech/VLM stacks aimed at turnkey interaction deployments.

Mirokaï includes force limiting, collision detection, emergency stop and collaborative mode features designed for safe operation around people and compliant interactions in public spaces. TIAGo Pro provides joint safety brakes, torque‑based force limiting, collision detection, emergency stop and collaborative‑mode compliance aligned with industrial safety standards. Both platforms implement multiple safety measures and force sensing for human environments, with TIAGo Pro adding mechanical joint brakes and commonly used industrial safety primitives and Mirokaï emphasizing soft compliance and proxemic behavior for social contexts.

Mirokaï’s purchase price is listed at US $30,000 plus monthly maintenance fees, reflecting a service‑oriented commercial offering with ongoing support costs. TIAGo Pro’s price range is €29,000 to €59,000, reflecting configurable hardware and payload options for research and enterprise customers. The two pricing models differ in currency, range and recurring maintenance emphasis: Mirokaï cites a base price with ongoing fees while TIAGo Pro lists a broader purchase price range depending on configuration. Comparisons of value depend on required payload, sensors, software openness and intended deployment scale.