Through August 2004 to July 2007 on "Tezuka + I", there was a page of character profiles. When "Tezuka + I" closed, this left only the page's text in some archive sites, but the page was too good to fully disappear. I summarized the profiles here. The profile itself may be inaccurate, but Tezuka may have arranged all these at some point. So, I think this is official. I've included characters from the original page that had some stats missing. Please use this for reference only. I'm sorry this data is incomplete.
ASTRO BOY: Age 9 | 135 cm/4'4" | 30 kg/66 lbs
MR. MUSTACHIO: Age 42 | 159 cm/5'2" | 65 kg/143 lbs
SKUNK KUSAI: Age 35 | 178 cm/5'8" | 76kg/167 lbs
KENICHI: Age 16 | 164 cm/5'3" | 46 kg/101 lbs
BLACK JACK: Age 31 | 175 cm/5'7" | 58 kg/222 lbs
KIRIKO: Age 40 | 180 cm/5'9" | 67 kg/147 lbs
RAINBOW PARAKEET: Age 28 | 178 cm/5'8" | 60 kg/132 lbs
HAMEGG: Age 42 | 164 cm/5'3" | 58 kg/222 lbs
LAMP: Age 43 | 175 cm/5'7" | 75 kg/165 lbs
DUKE RED: Age 52 | 160 cm/5'2" | 65 kg/143 lbs
SAPPHIRE: Age 15 | 166 cm/5'4" | 44 kg/97 lbs
TINK: Age 7 | 50 cm/1'6" | 15 kg/33 lbs
DORORO: Age 10 | 131 cm/4'3" | 27 kg/59 lbs
HYAKKIMARU: Age 14 | 175 cm/5'7" | 53 kg/116 lbs
WATO CHIYOKO: Age 14 | 163 cm/5'3" | 47 kg/103 lbs
MELMO: Age 6~26 | 118~163 cm/3'8"~5'3" | 21~43 kg/46~95 lbs
UNICO: Age 5 | 40 cm/1'3" | 10 kg/22 lbs
TRITON: Age 13 | 164 cm/5'4" | 50 kg/110 lbs
ROCK: Age 17 | 168 cm/5'5" | 50 kg/110 lbs
CHOCOLA: Age 14 | 143 cm/4'7" | 38 kg/83 lbs
SHUMARI: Age 28 | 190 cm/6'2" | 115 kg/253 lbs
BOON MARUKUBI: Age 43 | 165 cm/5'4" | 80 kg/176 lbs
SANKAKU KIMU: Age 49 | 158 cm/5'2" | 100 kg/220 lbs
HYOUTANTSUGI: ??? | 17 cm/5.5" | ???
SPIDER: ??? | 12 cm/4" | ???
Personally, I think some of these only apply to their debut roles, or whichever role they appeared the most in. Keeping in mind that 5'7" is considered being a giant in Japan, some of these guys are tall to their standards. (Personally, I'd place Duke Red to be at least six feet tall, for one thing...) Or like how Rock is credited as being 17, when all the stuff he did in Alabaster would be more disturbing if he were a teenager. And I'm pretty sure Skunk is 25 in the 1980's series, if you look at his mugshot card. Whether or not they're accurate, I thought you guys would find this interesting.
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