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Description
Robot
- Height: 100cm
- Width: 35cm
- Weight: 9kg
- Walking Speed: 30cm/s, Full step walking forward
PDF File
Degrees of freedom
- 23 DOF
- 12 DOF Leg, 8 DOF Arm
- 1 DOF Waist, 2 DOF Head
4-DOF Arm (x2)
- Elbow: 2 DOF SAM30 x2
- Shoulder: 2 DOF (SAM160 x1/ SAM100 x1)
6-DOF Leg (x2)
- Hip: 3 DOF (SAM160x1 / sam210 x2)
- Knee: 1 DOF (SAM210 x1)
- Ankle: 2 DOF (SAM210 x2)
- 1-DOF waist (x1): 1 DOF (SAM160x1)
- 2-DOF head (x1): 2 DOF (SAM30 x2)
Sensors
- Inertial: IMU 2g 9axis, +- 180 degree (roll/yaw), +-90 degree (pitch)
- FSR module (optional) x2: 4 sensors in each foot
Computer
- CPU: Intel Core i3-1115G4 Processor (6m Cache, up to 4.10GHz),
- Samsung DDR4 8GB PCS-21300
- Crucial P2 M.2 NVMe 250GB TLC
- Wireless: Bluetooth / Intel WI-FI 6 AX201
External interfaces
- USB 2.0 x2, Ethernet 10/100/1000 Base T
- USB 3.0 x2, HDMI x1
Interfaces
- Speaker: 1 set
- Microphone: 1 set
- Vision camera: HD 1920 x 1080 px
Battery
- Type: LiPo 18.5V, 3000mA
- Operating duration: 20min (frequent movement) / 40min (stand-by)
- Charging time: 30min
OS: Windows 7 or Linux Ubuntu 14.04
Windows based
- Easy motion building software/ soccer mode C# application / MSRDS samples with Kinect sensor
- Autonomous soccer mode, performance mode, presentation mode
- Pre-programmed walking and performance motions
Linux Ubuntu 20.04 LTS (ROS1 Noetic, OpenCV 4.x.x, QT compiler)
- ROS base middleware package
- Gazebo for 3D rigid body dynamics simulation
- Rviz plugin for 3D visualization environment
- Walking / Grasping / Recognition Control
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