Specifications

Product Specifications

Category	Specification	Education Edition	Pro Edition
Basic Parameters	Height (standing)	Approx. 1.4 m	Approx. 1.4 m
	Weight¹	Education E1 : Approx. 42 kg Education E2(gripper version): Approx. 43 kg Education E3(dexterous hand): Approx. 43 kg	Pro P1 : Approx. 42 kg Pro P2(gripper version): Approx. 43 kg Pro P3(dexterous hand): Approx. 43 kg
Degrees of Freedom	Total DOF	31	31
	DOF per leg	6	6
	DOF per arm	7	7
	Waist DOF	3	3
	Head DOF	2	2
Joints	Joint output bearing	Industrial-grade cross-roller bearing	Industrial-grade cross-roller bearing
	Motor	High-speed inner-rotor PMSM	High-speed inner-rotor PMSM
	Max joint peak torque	140 Nm	140 Nm
Arm Parameters	Max dual-arm load²	10 kg	10 kg
End effector （Optional）		Education E1: - Education E2: gripper version Education E3: dexterous hand	Pro P1: - Pro P2: gripper version Pro P3: dexterous hand
Compute		High‑performance ARM processor，375 TOPS	Jetson Thor T5000，2070 TFLOPS
Cooling system		Air cooling	Air cooling
Sensors	Head camera	Binocular camera	Binocular camera
	Abdominal camera	Binocular camera	Binocular camera
	Arm-end camera	Education E1 : - Education E2(gripper version): Supported Education E3(dexterous hand): Supported	Pro P1 : - Pro P2(gripper version): Supported Pro P3(dexterous hand): Supported
	Microphone	Microphone array	Microphone array
	Speaker	Supported	Supported
Operating Parameters	Walking speed	3 m/s	3 m/s
Battery	Voltage	48V	48V
	Capacity	10Ah	10Ah
	Battery life	2 h of continuous walking	2 h of continuous walking
	Direct charging	Magnetic direct-charging port, supports charging while in use	Magnetic direct-charging port, supports charging while in use
Dock	LiDAR	Optional	Optional
Ports	Peripheral ports	Power supply	Power supply
		USB Type-C® Locking Connector	USB Type-C® Locking Connector
		Ethernet	Ethernet
Safety	Audio alerts	Low-battery alert, joint over-temperature alert	Low-battery alert, joint over-temperature alert
Communication	Wireless connection	Wi-Fi 6	Wi-Fi 6
	Bluetooth	Bluetooth 5.2	Bluetooth 5.2

[1] Weight: Weight varies slightly across editions and configurations.

[2] Max dual-arm load: The maximum dual-arm load varies greatly across arm postures; the actual load in each posture takes precedence.

Main Components

Joint Motors

Joint IDs and Limits

Joint No.	Joint Name	Limits / ° (URDF zero position)
		Max	Min
0	Head_Yaw	65	-65
1	Head_Pitch	25	-20
2	ShoulderPitchLeft	100	-175
3	ShoulderRollLeft	89	-89
4	ShoulderYawLeft	120	-120
5	ElbowYawLeft	0	-122.5
6	WristPitchLeft	120	-120
7	WristYawLeft	40.9	-44.9
8	WristRollLeft	55	-80
9	ShoulderPitchRight	100	-175
10	ShoulderRollRight	89	-89
11	ShoulderYawRight	120	-120
12	ElbowYawRight	122.5	0
13	WristPitchRight	120	-120
14	WristYawRight	44.9	-40.9
15	WristRollRight	80	-55
16	Waist_Pitch	34	-45
17	Waist_Roll	22.5	-22.5
18	Waist_Yaw	140	-140
19	HipPitchLeft	130	-170
20	HipRollLeft	90	-35
21	HipYawLeft	160	-160
22	KneePitchLeft	150	0
23	AnklePitchLeft	19	-37
24	AnkleRollLeft	20	-20
25	HipPitchRight	130	-170
26	HipRollRight	35	-90
27	HipYawRight	160	-160
28	KneePitchRight	150	0
29	AnklePitchRight	19	-37
30	AnkleRollRight	20	-20

Coordinate Systems

When all joints are at zero degrees, the coordinate system of each joint is shown in the figures below.

Controller

	Education Edition	Pro Edition
Processor	High‑performance ARM processor	Jetson Thor T5000
Compute Performance	16-core Arm Cortex A78AE CPU@1.9GHz AI performance: 375 TOPS (INT8)	14-core Arm® Neoverse®-V3AE 64-bit CPU@2.6GHz AI performance: 2,070 TFLOPS (FP4 — sparse)
Memory	16GB	128GB
Storage	512GB	512GB
Wired Network	1000M*1	1000M*1
Wireless Network	Wi-Fi 6*1	Wi-Fi 6*1
Audio	Microphone, speaker	Microphone, speaker