Specification

URDF & CAD

URDF and CAD files are available from the Downloads page.

Robot Dimension

All dimensions are in millimeters (mm).

Overall dimensions

[ Top / Front / Side View ]

Body top plate

[ Body Top Plate ]

Joint Specification

Joint Specification

Category	Hip Roll Joint	Hip Pitch Joint	Knee Joint
Max Angular Vel	14.4 rad/s	14.4 rad/s	11.15 rad/s
Nominal Torque	40 Nm	40 Nm	50 Nm
Max Torque	104 Nm	104 Nm	140 Nm
Rotor Inertia	0.014058265	0.014058265	0.0214816
Joint Range	Left: -30° ~ 43° Right: -43° ~ 30°	No limit	-158.1° ~ -19.3°

IMU Sensor Specification

Parameter	Specification
Gyroscope In-Run Bias	5 °/hr
Gyroscope Range	±2,000 °/sec
Accelerometer Range	±16 g
Accelerometer In-Run Bias	< 0.04 mg
IMU Data Update Rate	800 Hz
Extended Kalman Filter Update Rate	400 Hz

• IMU Offset
  • Robot body Center to IMU Center (x,y,z) : (0.00665, 0, -0.0404)