RobotData

Hardware / Humanoid

Digit

Agility Robotics Digit · Agility Robotics

Robot profile & datasetsOpen in knowledge graphVendor page
DEGREES OF FREEDOM
20
HEIGHT
1.75 m
MASS
65 kg
PAYLOAD
16 kg
TOP SPEED
1.5 m/s
CONTROL RATE
1000 Hz
POWER
Swappable battery pack
RUNTIME
~4 h with hot swap
ONBOARD COMPUTE
Onboard compute + Agility Arc cloud fleet control
INTERFACES
Wi-Fi 6, Ethernet, Arc fleet API

Actuators

3

Joints and end effectors that produce the action vector recorded in datasets.

Leg joints

×12

Harmonic-drive electric

6 per leg incl. passive spring ankle

Arm joints

×8

Electric rotary

4 per arm, used for balance and totes

End effector

×2

Tote clamp / gripper

16 kg payload class

Motors & drives

1

The drive units inside those joints, with torque and reduction details.

Custom BLDC + harmonic reducer

Torque-dense rotary

proprioceptive control

Sensors

4

Observation streams available to a policy running on this platform.

Head LiDAR

3D LiDAR

navigation and pallet detection

Torso cameras

RGB + depth

tote pose estimation

IMU

6-axis

bipedal balance

Joint encoders

Absolute

all actuated joints

Bipedal logistics humanoid deployed for tote moving in warehouses.

Data recorded on this hardware

Resolving related models, datasets and papers…