The COmpliant HuMANoid (COMAN) platform was developed by the Italian Institute of Technology (IIT) in the European project AMARSi. The robot supports rich motor behavior by a novel mechatronic actuator design featuring passive compliance. COMAN is 95cm tall, weighs 31kg and has 25 DOF. COMAN plays also a key role in the European project CogIMon, where its features are exploited to research compliant interaction in teams, e.g. with humans or multiple robots.