Digit
Agility Robotics Digit · Agility Robotics
- 20
- 1.75 m
- 65 kg
- 16 kg
- 1.5 m/s
- 1000 Hz
- Swappable battery pack
- ~4 h with hot swap
- Onboard compute + Agility Arc cloud fleet control
- Wi-Fi 6, Ethernet, Arc fleet API
Actuators
3Joints and end effectors that produce the action vector recorded in datasets.
Leg joints
×12Harmonic-drive electric
6 per leg incl. passive spring ankle
Arm joints
×8Electric rotary
4 per arm, used for balance and totes
End effector
×2Tote clamp / gripper
16 kg payload class
Motors & drives
1The drive units inside those joints, with torque and reduction details.
Custom BLDC + harmonic reducer
Torque-dense rotary
proprioceptive control
Sensors
4Observation 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…
