Specifications

DoFs

The robot has the following degrees of freedoms:

Component	DoFs
Head	2
Left Arm	7
Right Arm	7
Left Gripper	1
Right Gripper	1
Waist	2
Left Leg	6
Right Leg	6
Total	32

Head Camera

Specification	Details
Manufacturer	Orbec
Model	Orbec Astra Pro
Interface	USB 2.0
Resolution	1280×720
Range	0.4–8 m
Depth Image Size	640×480
Field of View	60° horizontal, 49.5° vertical

Motors and Torque Sensors

The following values can also be found in the provided Hardware Sheet. The values for leg and arm joints are the same for the right and left side. The nominal voltage for all motors is 48 V. The robot uses three different kinds of torque sensors depending on the range (100Nm, 160Nm or 300Nm). There are no torque sensors in the wrists, the endeffectors and the neck. Note that the RMS torque constant, \(K_{t,\mathrm{RMS}}\), and the peak torque constant, \(K_{t,\mathrm{Peak}}\), are related by \(\frac{K_{t,\mathrm{RMS}}}{K_{t,\mathrm{Peak}}} = \sqrt{2}\).

Current & Torque LimitsMotor Characteristics

Joint	Power (W)	Cont. Current (A)	Limit Current (A)	Peak Torque (Nm)	Sensor Range (Nm)
leg_1	180	3.53	5.8	86.81904	100
leg_2	275	8.57	14	148.436064	160
leg_3	275	8.57	14	146.9664	160
leg_4	430	15.5	30	285.84576	300
leg_5	275	8.57	14	146.9664	160
leg_6	270	4.95	7.8	85.0256784	100
arm_1	275	8.57	14	146.9664	160
arm_2	275	8.57	14	146.9664	160
arm_3	270	4.95	7.8	84.18384	100
arm_4	270	4.95	7.8	84.18384	100
arm_5	220	2.31	3.8	24.8976	N/A
arm_6	160	1.75	2.8	9.6768	N/A
arm_7	160	1.75	2.8	9.6768	N/A
arm_8	160	1.75	1.75	6.048	N/A
torso_1	275	8.57	14	146.9664	100
torso_2	275	8.57	14	146.9664	100
head_1	160	1.75	1.75	6.048	N/A
head_2	160	1.75	1.75	6.048	N/A

Joint	\(K_{t,\mathrm{RMS}}\), \(\frac{Nm}{A_\mathrm{RMS}}\)	\(K_{t,\mathrm{Peak}}\), \(\frac{Nm}{A_\mathrm{Peak}}\)	Reduction Ratio
leg_1	0.1386	0.098	150
leg_2	0.1458	0.1031	101
leg_3	0.1458	0.1031	100
leg_4	0.0919	0.065	144
leg_5	0.1458	0.1031	100
leg_6	0.1499	0.106	101
arm_1	0.1458	0.1031	100
arm_2	0.1458	0.1031	100
arm_3	0.1499	0.106	100
arm_4	0.1499	0.106	100
arm_5	0.091	0.064	100
arm_6	0.048	0.034	100
arm_7	0.048	0.034	100
arm_8	0.048	0.034	100
torso_1	0.1458	0.1031	100
torso_2	0.1458	0.1031	100
head_1	0.048	0.034	100
head_2	0.048	0.034	100

Force/Torque Sensors

Each wrist and ankle is equipped with force/torque sensor.

Specification	Ankle	Wrist
Manufacturer	ATI	ATI
Model	MINI58	MINI45
Fx, Fy Range	2800 N	580 N
Fz Range	6800 N	1160 N
Tx, Ty Range	120 Nm	20 Nm
Tz Range	120 Nm	20 Nm
Fx, Fy Resolution	3/4 N	1/4 N
Fz Resolution	1 N	1/4 N
Tx, Ty Resolution	1/50 Nm	1/188 Nm
Tz Resolution	1/80 Nm	1/376 Nm

IMU

Specification	Value
Roll/Pitch Accuracy (Static)	0.2°
Heading Accuracy (Static)	0.5°
Roll/Pitch Accuracy (Dynamic)	0.6°
Heading Accuracy (Dynamic)	1.0°
Internal Filter Rate	1000 Hz
Output Data Rate	1000 Hz
Accelerometers Range	2, 4, 16 g
Gyroscopes Range	250, 500, 2000 °/s
Magnetometers	2, 4, 8 G
Accelerometers Bias Stability	20 µg
Gyroscope Bias Stability	3 °/hr
Non-linearity	< 0.05 %