Model Variants ============== The Go2 series is available in three distinct models — **AIR**, **PRO**, and **EDU**. Below is a comparative specification table for each model: +---------------------------------+----------------------+----------------------+----------------------+ | Model | AIR | PRO | EDU | +=================================+======================+======================+======================+ | **Mechanical Specifications** | | | | +---------------------------------+----------------------+----------------------+----------------------+ | Dimension (Standing) | 70cm x 31cm x 40cm | 70cm x 31cm x 40cm | 70cm x 31cm x 40cm | +---------------------------------+----------------------+----------------------+----------------------+ | Dimension (Crouching) | 76cm x 31cm x 20cm | 76cm x 31cm x 20cm | 76cm x 31cm x 20cm | +---------------------------------+----------------------+----------------------+----------------------+ | Weight (with battery) | ≈15kg | ≈15kg | ≈15kg | +---------------------------------+----------------------+----------------------+----------------------+ | Material | Aluminium alloy + | Aluminium alloy + | Aluminium alloy + | | | High-strength | High-strength | High-strength | | | engineering plastic | engineering plastic | engineering plastic | +---------------------------------+----------------------+----------------------+----------------------+ | **Electronic Parameters** | | | | +---------------------------------+----------------------+----------------------+----------------------+ | Voltage | 28V–33.6V | 28V–33.6V | 28V–33.6V | +---------------------------------+----------------------+----------------------+----------------------+ | Max Working Power | ≈3000W | ≈3000W | ≈3000W | +---------------------------------+----------------------+----------------------+----------------------+ | **Performance Parameters** | | | | +---------------------------------+----------------------+----------------------+----------------------+ | Payload | ≈7kg (Max 10kg) | ≈8kg (Max 10kg) | ≈8kg (Max 12kg) | +---------------------------------+----------------------+----------------------+----------------------+ | Speed | 0–2.5 m/s (Max 5m/s) | 0–3.5 m/s (Max 5m/s) | 0–3.7 m/s (Max 5m/s) | +---------------------------------+----------------------+----------------------+----------------------+ | Max Climb Drop Height | ≈15cm | ≈16cm | ≈16cm | +---------------------------------+----------------------+----------------------+----------------------+ | Max Climb Angle | 30° | 40° | 40° | +---------------------------------+----------------------+----------------------+----------------------+ | Computing Power | — | 8-core High-perf CPU | 8-core High-perf CPU | +---------------------------------+----------------------+----------------------+----------------------+ | **Knee Joint Parameters** | | | | +---------------------------------+----------------------+----------------------+----------------------+ | Max Joint Torque | — | ≈45N·m | ≈45N·m | +---------------------------------+----------------------+----------------------+----------------------+ | Knee Motors | 12 sets | 12 sets | 12 sets | +---------------------------------+----------------------+----------------------+----------------------+ | Range of Motion | Body: -48° ~ 48° | Body: -48° ~ 48° | Body: -48° ~ 48° | | | Thigh: -200° ~ 90° | Thigh: -200° ~ 90° | Thigh: -200° ~ 90° | | | Shank: -156° ~ -48° | Shank: -156° ~ -48° | Shank: -156° ~ -48° | +---------------------------------+----------------------+----------------------+----------------------+ | Intra-joint Circuit | √ | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | Heat Pipe Cooler | √ | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | **Sensors** | | | | +---------------------------------+----------------------+----------------------+----------------------+ | 3D LiDAR (Wide-angle) | √ | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | Wireless Position Module | — | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | HD Wide-angle Camera | √ | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | Foot-end Force Sensor | — | — | √ | +---------------------------------+----------------------+----------------------+----------------------+ | **Features** | | | | +---------------------------------+----------------------+----------------------+----------------------+ | Basic Actions | √ | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | Auto-scaling Strap | — | √ | — | +---------------------------------+----------------------+----------------------+----------------------+ | Intelligent OTA Upgrade | √ | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | RTT 2.0 Pictures | √ | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | Graphical Programming | √ | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | Front Lamp (3W) | √ | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | Wi-Fi 6 Dual Band | √ | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | Bluetooth 5.2/4.2/2.1 | √ | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | 4G Module | — | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | Voice Function | — | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | ISS 2.0 Side-follow | — | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | Obstacle Detection | √ | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | Charging Pile Support | — | √ | √ | +---------------------------------+----------------------+----------------------+----------------------+ | Secondary Development | — | — | √ | +---------------------------------+----------------------+----------------------+----------------------+ | **Accessories** | | | | +---------------------------------+----------------------+----------------------+----------------------+ | Manual Controller | Optional | Optional | √ | +---------------------------------+----------------------+----------------------+----------------------+ | High Computing Module | — | — | NVIDIA Jetson Orin | | | | | (Optional,40–100Tops)| +---------------------------------+----------------------+----------------------+----------------------+ | Battery | 8000mAh (x1) | 8000mAh (x1) | 15000mAh (x1) | +---------------------------------+----------------------+----------------------+----------------------+ | Battery Life | 1–2h | 1–2h | 2–4h | +---------------------------------+----------------------+----------------------+----------------------+ | Charger | 33.6V 3.5A | 33.6V 3.5A | 33.6V 9A (Fast) | +---------------------------------+----------------------+----------------------+----------------------+ | Warranty | 6 months | 12 months | 12 months | +---------------------------------+----------------------+----------------------+----------------------+ .. note:: 1. Max joint torque refers to the largest joint motor. Actual torque varies by motor. 2. Specifications may vary in different scenarios/configurations. Refer to actual product. 3. Voice functions include offline commands, intercom, and media playback. 4. For development, refer to the **Secondary Development Manual**. 5. Warranty terms: See **Product Warranty Brochure**. 6. Non-mainland versions of 4G support 43 European countries and select Asian regions. .. tip:: - Some functions require manual operation or secondary development due to hardware/software limits. - Go2 is a **civilian-use robot**. Avoid unsafe modifications or hazardous use. - Visit the **Unitree Robotics Website** for latest terms, updates, and compliance guidelines. Accessories Overview ==================== +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | Accessory | Description | Notes | Availability | Picture | +====================================+====================================+====================================+====================================+=======================================================+ | Manual Controller | Remote handheld controller | Optional for AIR & PRO; Standard in| EDU | .. image:: media/figures/manual_controller.png | | | | EDU | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | Standard Battery | 8000mAh / 236.8Wh | ≈2.5kg | Default on AIR & PRO | .. image:: media/figures/battery_standard.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | Long Endurance Battery | 15000mAh / 432Wh | ≈2.5kg | Default on EDU | .. image:: media/figures/battery_long.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | Charger (Standard) | 33.6V 3.5A | Slow charge ~2h | AIR & PRO | .. image:: media/figures/charger_standard.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | Fast Charger | 33.6V 9A | Fast charge ~1h15 | EDU + optional upgrade | .. image:: media/figures/charger_fast.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | Foot End Sensor | Mounted on foot ends | Provides advanced force detection | EDU only | .. image:: media/figures/foot_end_sensor.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | Charging Pile | Dock-type charging pile | Supports auto-charging | PRO & EDU | .. image:: media/figures/charging_pile.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | Expansion Dock (Orin Nano 8GB) | High-performance module | Up to 40 TOPs computing power | Optional | .. image:: media/figures/expansion_dock_orin_nano.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | Expansion Dock (Orin NX 16GB) | Advanced high-computing module | Up to 100 TOPs computing power | Optional | .. image:: media/figures/expansion_dock_orin_nx.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | Dual Cameras | 106mm × 25mm × 41mm | Weight ≈108g, 3W power | Optional | .. image:: media/figures/dual_cameras.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | Depth Camera (Intel D435i) | 124mm × 29mm × 26mm | 1280×720@30fps, 848×480@90fps | Optional | .. image:: media/figures/depth_camera_d435i.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | 3D Navigation Radar (MID-360) | 65mm × 65mm × 60mm | Horizontal FOV 360° / Vertical 59° | Optional | .. image:: media/figures/radar_mid360.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | 3D Navigation Radar (Hesai XT16) | Ø100–103mm × 76mm | Horizontal 360° / Vertical 30° | Optional | .. image:: media/figures/radar_hesai_xt16.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | Small Servo Arm (D1 / D1-550) | Robotic manipulator arm | 6 DOF + claw clamp | Optional | .. image:: media/figures/servo_arm.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ | Protective Bracket (Small) | Support fixture | Provides hardware protection | Optional | .. image:: media/figures/protective_bracket.png | | | | | | :width: 50% | +------------------------------------+------------------------------------+------------------------------------+------------------------------------+-------------------------------------------------------+ Hardware Architecture ===================== .. image:: media/figures/hardware_architecture.png :alt: Go2 Hardware Architecture :width: 100% :align: center | Hardware -------- .. image:: media/figures/hardware_1.png :alt: Go2 Hardware View 1 :width: 100% :align: center | .. image:: media/figures/hardware_2.png :alt: Go2 Hardware View 2 :width: 100% :align: center | Back Load Installation Hole =========================== .. note:: The installation holes are designed for standard M4 screws and units are in millimeters (mm). .. image:: media/figures/installation_holes_1.png :alt: Go2 Installation Holes :width: 100% :align: center | Electrical Interface ==================== .. image:: media/figures/electrical_interface.png :alt: Go2 Electrical Interface :width: 100% :align: center | Power Interface --------------- **DC 28.8V output** Connected to Orin NX 8/16GB high computing power module BAT input. | Ethernet Interface ------------------ **Standard RJ45 interface** Connected to User PC / Orin NX 8/16GB via RJ45 Ethernet. | SBUS Interface -------------- Used for communication connection on a universal remote control. ⚠️ *This interface does not provide power output.* **Interface definition (from left to right):** ``NC / GND / SBUS`` .. image:: media/figures/electrical_interface_1.png :alt: Go2 SBUS Interface :width: 30% :align: center Lidar Specifications ==================== The **Unitree 4D LiDAR-L1** is equipped with Unitree’s proprietary **4D radar technology** (3D spatial positioning + 1D grayscale). It delivers **high-speed laser ranging** at up to **21,600 samples per second**, providing real-time 3D environmental data. This enables advanced **motion-based obstacle avoidance**, ensuring reliable performance across diverse and challenging terrains. Specifications -------------- +------------------+--------------------------------+ | **Parameter** | **Details** | +==================+================================+ | Model | L1 | +------------------+--------------------------------+ | Dimensions | 75 mm (W) × 75 mm (D) × 65 mm | | | (H) | +------------------+--------------------------------+ | Supply Voltage | 12 V DC | +------------------+--------------------------------+ | Laser Wavelength | 905 nm | +------------------+--------------------------------+ | Field of View | 360° × 90° | +------------------+--------------------------------+ Pilot Lamp Status Indicators ============================ +-----------------------------------------------+--------------------------------------+----------------------------------------------+ | Color | Flashing / State | Meaning | +===============================================+======================================+==============================================+ | .. image:: media/figures/lamp_green.png | Flashing | Switching on | | :alt: Go2 4D LiDAR | | | | :width: 15% | | | +-----------------------------------------------+--------------------------------------+----------------------------------------------+ | .. image:: media/figures/lamp_green_flash.png | Permanently on | Powered on, default obstacle avoidance on | | :alt: Go2 4D LiDAR | | | | :width: 15% | | | +-----------------------------------------------+--------------------------------------+----------------------------------------------+ | .. image:: media/figures/lamp_blue_flash.png | Permanently on | Obstacle avoidance closure | | :alt: Go2 4D LiDAR | | | | :width: 15% | | | +-----------------------------------------------+--------------------------------------+----------------------------------------------+ | .. image:: media/figures/lamp_yellow.png | Permanently on | Range mode | | :alt: Go2 4D LiDAR | | | | :width: 15% | | | +-----------------------------------------------+--------------------------------------+----------------------------------------------+ | .. image:: media/figures/lamp_purple.png | Permanently on | Accompanying mode on state | | :alt: Go2 4D LiDAR | | | | :width: 15% | | | +-----------------------------------------------+--------------------------------------+----------------------------------------------+ | .. image:: media/figures/lamp_blue_flash.png | Low flash rate | Motor & IMU calibration in progress | | :alt: Go2 4D LiDAR | | | | :width: 15% | | | +-----------------------------------------------+--------------------------------------+----------------------------------------------+ | .. image:: media/figures/lamp_yellow_flash.png| Low flash rate | Low battery warning (crouch down in 10 min) | | :alt: Go2 4D LiDAR | | | | :width: 15% | | | +-----------------------------------------------+--------------------------------------+----------------------------------------------+ | .. image:: media/figures/lamp_red_flash_l.png | Low flash rate | System abnormality, boot/hardware failure | | :alt: Go2 4D LiDAR | | → Contact after-sales service | | :width: 15% | | | +-----------------------------------------------+--------------------------------------+----------------------------------------------+ | .. image:: media/figures/lamp_red_flash_h.png | Fast flash rate | Motor & IMU calibration failed | | :alt: Go2 4D LiDAR | | | | :width: 15% | | | +-----------------------------------------------+--------------------------------------+----------------------------------------------+ | .. image:: media/figures/lamp_white.png | Permanently on | Head indicator light | | :alt: Go2 4D LiDAR | | | | :width: 15% | | | +-----------------------------------------------+--------------------------------------+----------------------------------------------+ Notes ----- **Light Priority Modes** The robot uses a priority-based light indication system: +--------------------------------------+------------------------------------+ | **Mode** | **Light Indicator** | +======================================+====================================+ | Companion Mode | Purple light (always on) | +--------------------------------------+------------------------------------+ | Endurance Mode | Yellow light (always on) | +--------------------------------------+------------------------------------+ | Obstacle Avoidance Off | Blue light (always on) | +--------------------------------------+------------------------------------+ Camera Specifications ===================== The onboard camera supports **dual-stream video output** at different resolutions and frame rates: +-------------------+--------------------------------------------------+ | **Parameter** | **Details** | +===================+==================================================+ | Supported Streams | 720p @ 15 fps, 1080p @ 15 fps | +-------------------+--------------------------------------------------+ | Aperture | F2.2 | +-------------------+--------------------------------------------------+ | Field of View | 120° | +-------------------+--------------------------------------------------+ | Transmission | Real-time HD image transmission via app | | | (smooth at 720p @ 15 fps in clear environments) | +-------------------+--------------------------------------------------+ Joint Serial Number =================== A quadruped robot functions similarly to an animal, with a **trunk (body)** and four **symmetrical legs** (front and rear). The robot’s four legs are grouped into **front** and **rear pairs**, each with a consistent coordinate system and joint range of motion (with slight variations between forelegs and hind legs). **Leg Numbering:** +---------+---------------------+ | **Leg** | **Description** | +=========+=====================+ | 0 | FR – Front Right | +---------+---------------------+ | 1 | FL – Front Left | +---------+---------------------+ | 2 | RR – Rear Right | +---------+---------------------+ | 3 | RL – Rear Left | +---------+---------------------+ **Joint Numbering:** +---------+---------------------+ | **Joint** | **Description** | +===========+===================+ | 0 | Hip (body joint) | +-----------+-------------------+ | 1 | Thigh joint | +-----------+-------------------+ | 2 | Calf joint | +-----------+-------------------+ Example: ``FR_thigh`` = Right Front Leg, Thigh Joint. Joint Limits ============ **Joint Motion Limits:** +-------------------+----------------------------------------------+ | **Joint** | **Range of Motion** | +===================+==============================================+ | Hip (Body Joint) | -48° ~ +48° | +-------------------+----------------------------------------------+ | Thigh Joint | Vertical = 0° | | | Forward = Positive | | | Hind Legs: -260° ~ +30° | | | Forelegs: -200° ~ +90° | +-------------------+----------------------------------------------+ | Calf Joint | -156° ~ -48° | +-------------------+----------------------------------------------+ .. image:: media/figures/body_joint_limits.png :alt: Go2 4D LiDAR :width: 100% :align: center | Coordinate Sys. & Joint Axes ============================ - **Hip Joint Rotation Axis:** X-axis - **Thigh & Calf Joint Rotation Axis:** Y-axis - **Rotation Direction:** Positive direction follows the **right-hand rule** When all joints are set to **zero degrees**: - Red axis = X-axis - Green axis = Y-axis - Blue axis = Z-axis .. image:: media/figures/joint_axes.png :alt: Go2 4D LiDAR :width: 100% :align: center | .. important:: ⚠️ Note: The calf joint cannot physically reach the zero-degree position due to its mechanical limits. The illustration only represents the **theoretical zero-point reference**. Robot Specifications ==================== Dimensions ---------- +-----------------------------------------------+-------------------------+ | **Parameter** | **Specification** | +===============================================+=========================+ | Naked machine (standing) – L × W × H | 70 cm × 31 cm × 40 cm | +-----------------------------------------------+-------------------------+ | Naked machine (lying down) – L × W × H | 76 cm × 31 cm × 20 cm | +-----------------------------------------------+-------------------------+ | Net weight (excluding battery) | ~15 kg | +-----------------------------------------------+-------------------------+ | Degrees of Freedom | 12 | +-----------------------------------------------+-------------------------+ | Maximum Speed | 3.7 m/s (up to 5 m/s) | +-----------------------------------------------+-------------------------+ Environment ----------- +--------------------------+------------------------------------------+ | **Parameter** | **Specification** | +==========================+==========================================+ | Operating Temperature | 5 C ~ 35 C (optimal in fair weather) | +--------------------------+------------------------------------------+ | Slope Tolerance | ±40° | +--------------------------+------------------------------------------+ | Maximum Step Height | 16 cm | +--------------------------+------------------------------------------+ | Lighting | 3 W searchlight | +--------------------------+------------------------------------------+ Battery ------- +--------------------------+---------------------------+---------------------------+ | **Specification** | **BT2-05** | **BT2-06** | +==========================+===========================+===========================+ | Weight | 2.5 kg | 2.5 kg | +--------------------------+---------------------------+---------------------------+ | Capacity | 8000 mAh / 236.8 Wh | 15000 mAh / 432 Wh | +--------------------------+---------------------------+---------------------------+ | Rated Voltage | DC 29.6 V | DC 28.8 V | +--------------------------+---------------------------+---------------------------+ | Charging Limit Voltage | DC 33.6 V | DC 33.6 V | +--------------------------+---------------------------+---------------------------+ | Runtime | 1 – 2 h | 3 – 5 h | +--------------------------+---------------------------+---------------------------+ | Charging Method | Slow charging | Fast charging / Docking | +--------------------------+---------------------------+---------------------------+ | Charging Current | 3.5 A | 9 A | +--------------------------+---------------------------+---------------------------+ | Charging Duration | ~2 h | ~1 h 15 min | +--------------------------+---------------------------+---------------------------+ Internal Systems ---------------- +--------------------------+-------------------------------------------------+ | **Specification** | **Details** | +==========================+=================================================+ | Processor | 8-core processor | +--------------------------+-------------------------------------------------+ | 4G Connectivity | Built-in patch SIM card | +--------------------------+-------------------------------------------------+ | Wi-Fi | Wi-Fi 6 Dual Band Wireless (802.11x) | +--------------------------+-------------------------------------------------+ | Bluetooth | Versions 5.2 / 4.2 / 2.1 | +--------------------------+-------------------------------------------------+ | Storage | 64 GB | +--------------------------+-------------------------------------------------+ | Output Power Supply | DC 28.8 V (battery voltage) | +--------------------------+-------------------------------------------------+ | Connection Port | RJ45 Ethernet port | +--------------------------+-------------------------------------------------+ Expansion Dock -------------- +--------------------------+--------------------------+--------------------------+ | **Specification** | **Orin Nano 8GB** | **Orin NX 16GB** | +==========================+==========================+==========================+ | Power Supply Voltage | 16–60 V DC | 16–60 V DC | +--------------------------+--------------------------+--------------------------+ | Computing Power | Up to 40 TOPS | Up to 100 TOPS | +--------------------------+--------------------------+--------------------------+ | Functional Interfaces | USB 3.0 Type-A ×1 | USB 3.0 Type-A ×1 | | | USB 3.0 Type-C ×1 | USB 3.0 Type-C ×1 | | | USB 2.0 Type-C ×1 | USB 2.0 Type-C ×1 | | | Gigabit Ethernet (RJ45)×2| Gigabit Ethernet (RJ45)×2| | | 100 Mbps Ethernet | 100 Mbps Ethernet | | | (GH1.25-4PIN) ×1 | (GH1.25-4PIN) ×1 | | | M8 aviation plug ×1 | M8 aviation plug ×1 | +--------------------------+--------------------------+--------------------------+ 3D Navigation Radar ------------------- Go2 supports two types of LiDAR (MID-360 and Hesai XT16R), both compatible with SLAM navigation. +--------------------------+--------------------------+--------------------------+ | **Specification** | **MID-360** | **Hesai XT16R** | +==========================+==========================+==========================+ | Dimensions | 65 × 65 × 60 mm | Ø100.0/103.0 × 76 mm | +--------------------------+--------------------------+--------------------------+ | Power Supply Voltage | 9–27 V DC | 9–36 V DC | +--------------------------+--------------------------+--------------------------+ | Laser Wavelength | 905 nm | 905 nm | +--------------------------+--------------------------+--------------------------+ | Field of View | Horizontal 360° | Horizontal 360° | | | Vertical -7° ~ +52° | Vertical -15° ~ +15° | +--------------------------+--------------------------+--------------------------+ Depth Camera ------------ +--------------------------+------------------------------------------+ | **Specification** | **D435i** | +==========================+==========================================+ | Size | 124 × 29 × 26 mm | +--------------------------+------------------------------------------+ | Minimum Depth Distance | 0.105 m | +--------------------------+------------------------------------------+ | Depth Resolution | 1280 × 720 @ 30 fps | | | 848 × 480 @ 90 fps | +--------------------------+------------------------------------------+ | Field of View | 86° × 57° (±3°) | +--------------------------+------------------------------------------+ Small Servo Arm --------------- +--------------------------+--------------------------+--------------------------+ | **Specification** | **D1** | **D1-550** | +==========================+==========================+==========================+ | Weight | ~2.37 kg | ~3.15 kg | +--------------------------+--------------------------+--------------------------+ | Degrees of Freedom | 6 DOF + 1 claw clamp | 6 DOF + 1 claw clamp | +--------------------------+--------------------------+--------------------------+ | Load Capacity | 500 g (ideal) | 500 g (incl. clamp) | +--------------------------+--------------------------+--------------------------+ | Max Arm Span | 550 mm (excl. clamp) | 550 mm (excl. clamp) | | | 670 mm (incl. clamp) | 670 mm (incl. clamp) | +--------------------------+--------------------------+--------------------------+ | Motor Type | Servo motor | Servo motor | +--------------------------+--------------------------+--------------------------+ | Working Radius | — | 550 mm | +--------------------------+--------------------------+--------------------------+ | Power Demand | 24 V 2.5 A (max 5 A) | 24 V 10 A (15–48 V) | +--------------------------+--------------------------+--------------------------+ | Power | 60 W | 240 W | +--------------------------+--------------------------+--------------------------+ | Controller | — | Integrated (4× Cortex- | | | | A55 @ 1.8 GHz) | +--------------------------+--------------------------+--------------------------+ | Communication | RJ45 (Ethernet) | RJ45 (Ethernet 100 Mbps) | | | | + Type-C (debug) | +--------------------------+--------------------------+--------------------------+ | Control Method | DDS subscription | DDS subscription | +--------------------------+--------------------------+--------------------------+ | Control Cycle | — | 10 Hz | +--------------------------+--------------------------+--------------------------+ | Torque (per joint) | — | J0: 3.3 Nm | | | | J1: 3.3 Nm | | | | J2: 1.7 Nm | | | | J3: 1.7 Nm | | | | J4: 1.7 Nm | | | | J5: 1.7 Nm | | | | J6: 1.7 Nm | +--------------------------+--------------------------+--------------------------+ | Joint Motion Range | J1: ±135° | J0: ±135° | | | J2: ±90° | J1: ±90° | | | J3: ±90° | J2: ±90° | | | J4: ±135° | J3: ±135° | | | J5: ±90° | J4: ±90° | | | J6: ±135° | J5: ±135° | | | | Claw: 0–65 mm | +--------------------------+--------------------------+--------------------------+ Remote Control with Screen -------------------------- +--------------------------+------------------------------------------+ | **Specification** | **Details** | +==========================+==========================================+ | Display | 5.5" 1080p HD LCD touchscreen | +--------------------------+------------------------------------------+ | System | Android 9, 2 GB RAM, 16 GB storage | +--------------------------+------------------------------------------+ | Size (antenna retracted) | 189 × 138 × 41 mm | +--------------------------+------------------------------------------+ | Weight | 850 g | +--------------------------+------------------------------------------+ | Battery | 10,200 mAh, 7.4 V, 2S Li-ion | +--------------------------+------------------------------------------+ | Charging Protocol | PD 20 W (fast charging) | +--------------------------+------------------------------------------+ | Charging Time | ~5 h (20 W fast charging) | +--------------------------+------------------------------------------+ | Runtime | Up to 13 h | +--------------------------+------------------------------------------+ | Functional Interfaces | HDMI (video out, industry version only) | | | USB-A (external device / file transfer) | | | Type-C (charging & transfer) | | | Firmware upgrade port (GH1.25 4PIN) | | | SIM card slot | | | TF card slot | | | Tripod mount (1/4" threaded hole) | +--------------------------+------------------------------------------+ Dual Cameras ------------ +--------------------------+------------------------------------------+ | **Specification** | **Details** | +==========================+==========================================+ | Size | 106 × 25 × 41 mm | +--------------------------+------------------------------------------+ | Weight | 108 g | +--------------------------+------------------------------------------+ | Power Consumption | 3 W | +--------------------------+------------------------------------------+ | Searchlight Power | 8 W | +--------------------------+------------------------------------------+ | Luminous Flux | 120–140 lm @ 1 W | +--------------------------+------------------------------------------+ | Searchlight Type | Transparent | +--------------------------+------------------------------------------+ Dual Cameras + Three-in-One Module ---------------------------------- +--------------------------+------------------------------------------+ | **Specification** | **Details** | +==========================+==========================================+ | Size | 270 × 143 × 133 mm | +--------------------------+------------------------------------------+ | Weight | 690 g ± 10 g | +--------------------------+------------------------------------------+ | Power Supply Voltage | 16–60 V DC | +--------------------------+------------------------------------------+ | Brightness | 3000 lm | +--------------------------+------------------------------------------+ | Light Output Angle | 15° | +--------------------------+------------------------------------------+ | Power | Lighting: 30 W | | | Speaker: 30 W | | | Red/Blue: 10 W | +--------------------------+------------------------------------------+ | Effective Sound Range | 500 m | +--------------------------+------------------------------------------+ | Maximum Sound Range | 800 m | +--------------------------+------------------------------------------+ | Maximum Sound Pressure | 130 dB | +--------------------------+------------------------------------------+ | Audio Formats | mp3 / wav / m4a / flac / aac | +--------------------------+------------------------------------------+ | Control Method | Remote app | +--------------------------+------------------------------------------+ | Functions | Real-time shouting | | | Audio recording & playback | | | Text-to-speech | | | Voice + lighting control | | | Flash / constant light | | | Brightness adjustment | | | Red/Blue flash & mode switching | +--------------------------+------------------------------------------+