PAL Robotics TIAGo Pro

Name: PAL Robotics TIAGo Pro
Brand: PAL Robotics

robot_category: Mobile Manipulator · Research platform: Mobile-manipulation research platform

Data & sources

Key specifications

Official edition

TIAGo Pro single-arm version

Official-source edition/configuration for TIAGo Pro.

Dimensions specifications
Height	110–1.45 m
Footprint diameter cm	Ø 54 cm

Actuation specifications
Total degrees of freedom	23 DoF
Degrees of freedom per arm	7 DoF per arm
Head dof	2 DoF (Pan/Tilt)
Torso dof	1 DoF
Torso lift range cm	35 cm
Mounting points	On head, laptop tray and mobile base

Power specifications
Optional additional battery	Additional battery
Optional charging station	Dock charging station
Runtime	4–5 h (1 battery) / 8–10 h (2 batteries)

Sensors specifications
Arm torque sensing	On each arm actuator
Head camera type	RGB-D Camera
Lidar sensor configuration	2x laser range finder, 10 m, 360º FoV
Optional lidar sensor configuration	2x laser range finder, 25 m, 360º FoV
Optional force torque sensor	Wrist 6-axis F/T sensor

Other specifications
Arm safety brakes count	6x at joint level
Arm communication bus frequency	1 kHz EtherCAT
Face screen size in	10″ touchscreen
Speaker configuration	2x 4 W loudspeakers
Microphone array count	4-mic array
Torso safety brakes count	1x at joint level
Expansion ports	2x USB 3 \| 1x HDMI; 2x Ethernet \| 1x Power 5A; 36V \| 1x Power 8A 12V
Emergency stop button	Present
Vpn connection	Wireguard
Wireless connectivity	Wi-fi 6 (802.11ax, dual band, 2×2) \| Bluetooth 5.2

Compute specifications
Operating system	Ubuntu LTS 64-bits \| PREEMPT-RT
Middleware	ROS 2
Controllers	ros2_controller \| Gravity Compensation
Included navigation stack	Present
Included motion library	Present
Software integrations	MoveIt2; Nav2; ros2_control
Compatible simulators	MuJoCo; Gazebo
Optional gpu	NVIDIA Jetson PC