SMART SiX is a COMAU robot, particularly suitable to all those operations that require fast movement and a high degree of repeatability. It is endowed with a COMAU C4G controller, which in the open version C4Gopen is interfaced to an external PC, where customized control algorithms can be run. In MERLIN, the SmartSix robot is equipped with a six axes force/torque ATI sensor and is used in research on interaction with the environment.