HARDWARE_PROFILE
SYS_REF_H_024Humanoid_Class
reference morphology for bipedal manipulation. heavily over-actuated design for exploring complex kinematic spaces and unstructured environments.
01 // 24-DOF Kinematic Map
JOINT_TOPOLOGYNeck2 DOF (Pitch, Yaw)
Arms (L/R)5 DOF x 2
Torso2 DOF (Roll, Pitch)
Legs (L/R)5 DOF x 2
TOTAL_MASS: 45.2KG
HEIGHT: 1.65M
KINEMATIC_CHAIN_RENDER
02 // Actuator Specs
QUASI_DIRECT_DRIVEClass A (Hips, Knees)
TORQUE120 Nm
RATIO8:1
THERMAL85°C Peak
Class B (Shoulders, Ankles)
TORQUE45 Nm
RATIO6:1
THERMAL75°C Peak
Class C (Wrists, Neck)
TORQUE12 Nm
RATIO4:1
THERMAL60°C Peak
03 // Gait Manifolds
ZERO_MOMENT_POINTrobust bipedal locomotion requires maintaining the system's state within a viabilty kernel. the learned policies project latent actions into this high-dimensional stability manifold.
Max Lateral Disturbance
18.5 N·s
Recovery Time
450 ms