- 23
- 1.32 m
- 35 kg
- 2 kg
- 2 m/s
- 500 Hz
- 9 Ah swappable pack
- ~2 h light use
- Intel N97 host + optional NVIDIA Jetson Orin (8-frame)
- EtherCAT joint bus, Wi-Fi 6, Gigabit Ethernet
Actuators
4Joints and end effectors that produce the action vector recorded in datasets.
Leg joints
×12Quasi-direct-drive rotary
peak 120 N·m knee torque
Arm joints
×10Quasi-direct-drive rotary
peak 25 N·m
Waist
×1Rotary
yaw only on base model
Three-finger hand (Dex3-1 option)
×2Tendon-driven
7 DoF per hand
Motors & drives
2The drive units inside those joints, with torque and reduction details.
M107 series joint motor
PMSM, planetary reducer
knee/hip, 120 N·m peak
Compact arm motor
PMSM
shoulder/elbow, 25 N·m peak
Sensors
5Observation streams available to a policy running on this platform.
Livox MID-360
3D LiDAR
360°×59° FoV
Intel RealSense D435i
Depth camera
stereo depth + IMU
Joint encoders
Absolute magnetic
per-joint position and current
Body IMU
9-axis
attitude estimation
Foot force
Contact estimation
derived from joint current
Most widely used sub-$20K humanoid research platform; joint torques are vendor peak values, not continuous ratings.
Data recorded on this hardware
Resolving related models, datasets and papers…
