Joint parameters

■ Active degrees of freedom: 10

■ Single-leg degrees of freedom: 5

■ Torque information: Heading, ankle: rated torque 4NM; peak torque 12NM; roll, pitch, knee: rated torque 8NM; peak torque 20NM

Battery parameters

■Battery type: lithium iron phosphate battery

■Battery capacity: 5Ah

■Battery rated voltage: 21.6V

■Battery life: 2 hours

Open source and secondary development

■Open source: simulation model + reinforcement learning framework + open source data support

■Secondary development: support

Body parameters

Active degrees of freedom: 10

■Height: 590mm

■Weight: 9kg

■Material: 3D printing + carbon fiber cutting

Performance parameters

■ Walking speed: 0.5m/s

■ Maximum speed: 1.0m/s

■ Basic computing power: Host: STM32, Odroid C4; Memory: 4GB; Storage: 64GB

Supporting modules

■USB camera: optional

■LiDAR: optional

■IMU: yes;

The desktop-level open source biped robot adopts a lightweight body and bionic joint design, supports modular expansion and secondary development, and combines with the mainstream robot programming environment to achieve programmable control. The product integrates multi-modal sensing and Wi-Fi functions, supports autonomous path planning and line navigation, and provides a complete secondary development interface and open source data. Programming teaching can be carried out in educational scenarios, and it can be built into an intelligent assistant in multiple scenarios.