- 19
- 1.80 m
- 47 kg
- 3.3 m/s
- 500 Hz
- 15 Ah pack
- ~1 h dynamic walking
- Onboard x86 host + Jetson Orin
- EtherCAT, Wi-Fi 6, Ethernet
Actuators
3Joints and end effectors that produce the action vector recorded in datasets.
Leg joints
×10Quasi-direct-drive rotary
knee peak 360 N·m
Arm joints
×8Rotary
peak 75 N·m shoulder
Torso yaw
×1Rotary
±155°
Motors & drives
2The drive units inside those joints, with torque and reduction details.
M107 knee motor
PMSM with planetary gear
360 N·m peak, 220 rpm
M107 hip motor
PMSM
360 N·m peak
Sensors
4Observation streams available to a policy running on this platform.
Livox MID-360
3D LiDAR
360° scanning
Intel RealSense D435i
Depth camera
RGB-D
Joint encoders
Dual absolute
motor + output side
IMU
9-axis
400 Hz state estimation
Full-size humanoid used for locomotion RL and whole-body control research.
Data recorded on this hardware
Resolving related models, datasets and papers…
