Commercial robotHumanoid
PAL Robotics Kangaroo
Kangaroo robot profile with source-backed specifications.
Data & sources
- Official
- 2
Key specifications
- Height
- 1.58 m
- Weight
- 50–65 kg
- Total degrees of freedom
- 14–40 DoF (platform configuration)
- General payload
- 7 kg (4 DoF arms)
Specifications
Physical specifications
2- Height
1.58 m
- Weight
50–65 kg
Actuation
12- Total degrees of freedom
14–40 DoF (platform configuration)
- Degrees of freedom per arm
4, 5 or 7 DoF (platform configuration)
- Torso dof
2 DoF (yaw and roll)
2 supporting sources
- Degrees of freedom per leg
6 DoF
- Actuator control modes
Current; speed; position; impedance; force/torque (optional)
PIDs; current; speed; position; impedance; force/torque
- Actuators and transmissions
Custom linear actuators with integrated force sensors provide a wide range of motion and high speed and torques at the joints
- Arm configuration
4 DoF arms (platform configuration)
5 DoF arms (platform configuration)
7 DoF arms (platform configuration)
- Linear actuators
Custom linear actuators with integrated force sensors
- Motor placement
Motors close to the body
- Leg length decoupling
Decoupling leg length from hip swing motions
- Closed loop force torque control
Closed loop force/torque controllers at joint level
- Closed loop joint force torque control
Closed-loop force/torque joint controllers
Battery and power
4- Battery capacity
976 Ah
- Runtime
3 h
- Power output 12v
12 V/5 A power out
- Power output 71 4v
71.4 V/2 A power out
Mobility
8- Whole body inverse dynamics controller
Whole body inverse dynamics controller
- Walking policy
Walking
- Push recovery policy
Push recovery
- Running policy
Running
- Jumping policy
Jumping
- Stair climbing policy
Stair climbing
- Dance policy
Dance
- Low moving inertia
Low moving inertia
Manipulation
16- Arm tool flange
ISO 9409-1 interface with quick tool changer
ISO 9409-1
- Quick tool changer
Interface with quick tool changer
- General payload
7 kg (4 DoF arms)
- Box picking policy
Box picking
- Arm payload 4 extended
7 kg
- Arm payload 4 bimanual
30 kg
- Arm payload 5 extended
5 kg
- Arm payload 5 bimanual
28 kg
- Arm payload 7 extended
3 kg
- Arm payload 7 bimanual
25 kg
- Parallel gripper
Parallel gripper
- Parallel gripper configuration
2 fingers, 1 DoF
- Seed robotics rh8d end effector
Seed Robotics RH8D
- Seed hand configuration
5 fingers, 7 DoF
- Inspire robots hand
Inspire Robots RH56F1 – RH56E2
- Inspire hand configuration
5 fingers, 6 DoF
Sensors
9- Imu update rate
1 kHz update rate; accuracy 0.25° static, 0.5° dynamic
- Imu accuracy static
0.25° (static)
2 supporting sources
- Imu accuracy dynamic
0.5° (dynamic)
2 supporting sources
- Vision system
4× RGB-D cameras
2 supporting sources
- Imu ahrs update rate
1 kHz update rate
- Wrist force torque sensor
Wrist 6 axis force/torque sensor
2 supporting sources
- Foot force torque sensor
Feet 6 axis force/torque sensor
2 supporting sources
- Leg actuator force sensor
Integrated force sensor
2 supporting sources
- Seed hand tactile pressure sensors
Tactile pressure sensors
Compute
18- Control loop frequency
EtherCAT 2 kHz control loop
2 supporting sources
- Os and middleware
Ubuntu LTS + ROS 2 LTS + PAL OS
2 supporting sources
- Control framework
ros2_control
2 supporting sources
- Robot models
URDF and MJCF model
2 supporting sources
- Simulation and rl tools
MuJoCo and mjlab
2 supporting sources
- Ai development pipelines
Open-source reinforcement learning; motion retargeting; imitation learning
- Rl policies library
Walking; push recovery; running; jumping; stair climbing; dance; box picking
- Visualisation and diagnostics
WebGUI – web interface; hardware statistics history; Rviz2
- Research access level
Access to real-time loop; custom software deployment; ROS 2 API C++/Python
- Kinematic whole body controller
Hierarchical IK solver; teleoperation demo with VR kit
- Gpu
NVIDIA Jetson GPU (optional)
2 supporting sources
- Ai controller framework
Online control-policy switching
- Open source reinforcement learning
Open-source reinforcement learning
- Motion retargeting
Motion retargeting
- Imitation learning
Imitation learning
- Web interface
Web interface
- Motor control electronics
In-house electronics for motor control and sensor acquisition
- Decentralized electronics
Embedding custom and decentralization
Other
8- Onboard emergency button
Onboard emergency button
- Wireless emergency button
Wireless emergency button
- Safety integrity level
SIL 2 based on IEC61508
- Performance level
PL d based on EN ISO 13849-1
- Connectivity
2× WiFi6 (2.4 GHz + 5 GHz)
2 supporting sources
- Usb 3 type a ports
2× USB-3 Type A
- Usb 3 2 type c ports
4× USB 3.2 Type C
- Gigabit ethernet ports
2× Gigabit Ethernet RJ45
Gallery