Overview

Technical Specifications

General Specifications

Attribute	Value
Size	600 x 690 x 1,400mm (W x D x H)
Battery Capacity	50V, 25Ah (1,270Wh)
Degrees of Freedom	See Degrees of Freedom
Weight	See Weight
Arm Payload	3kg (per arm)
Arm Reach	600 mm (to wrist) + hand
Joint Maximum Speed, Angle Range	See Joint Maximum Speed, Angle Range
Power Supply Voltage and Frequency	48 VDC
Ambient Operating Temperature	40°C
Arm Repeatability	< ±0.05 mm
Exterior Materials	Aluminum
Mobile Base Speed	1.5 m/s

Degrees of Freedom

PART	# of DOF
Wheel	1 DOF x 2
Torso	6 DOF
Arm	7 DOF x 2
Head	2 DOF x 1
Total	24 DOF

Weight

PART	WEIGHT (kg)
Upper body	38kg (Arm 11kg x 2, Torso 16kg)
Lower body	42kg
Mobile	51kg
Total	131kg

Joint Maximum Speed, Angle Range

Joint	Speed	Range
torso_0, Ankle roll	120°/s	-20° ~ 20°
torso_1, Ankle pitch	120°/s	-60° ~ 87°
torso_2, Knee	180°/s	-142° ~ 90°
torso_3, Hip pitch	180°/s	-45° ~ 90°
torso_4, Hip roll	180°/s	-30° ~ 30°
torso_5, Hip yaw	180°/s	-90° ~ 90°
*_arm_0, Shoulder pitch	180°/s	-135° ~ 135°
*_arm_1, Shoulder roll	180°/s	-180° ~ 0.05° / -0.05° ~ 180°
*_arm_2, Shoulder yaw	180°/s	-120° ~ 120°
*_arm_3, Elbow pitch	180°/s	-150° ~ 0.01°
*_arm_4, Wrist yaw1	180°/s	-360° ~ 360°
*_arm_5, Wrist pitch	180°/s	-100° ~ 115°
*_arm_6, Wrist yaw2	180°/s	-170° ~ 170°
head_0, Pan	180°/s	-30° ~ 30°
head_1, Tilt	180°/s	-20° ~ 90°