Tokyo Robotics Torobo

1.615 m

approximately 120 kg

0.59 m

7 axes for dual arms

3 axes

3 axes

3 axes: pitch, pitch, yaw

3 axes: yaw, pitch, roll

built-in battery; continuous operation while charging is also possible

up to approximately 3 h

7 kg in worst-case posture

4 axes for omnidirectional undercarriage

4-axis undercarriage (omnidirectional mobile base)

wide-angle stereo camera; fisheye camera; depth camera; stereo microphone

torque sensors at all arm and waist joints

ToF-based depth camera, a fisheye camera, a wide-angle stereo camera, and microphones

1 wide-angle stereo camera

1 fisheye camera

1 depth camera

1 stereo microphone

speaker

24 V DC power supply terminal x 1; general-purpose signal wire x 8

8 digital inputs ports

8 digital outputs ports

8 analog inputs ports

8 analog outputs ports

2 Ethernet ports

ROS-compatible

Gazebo support

MoveIt! support

standard onboard PC

optional second NVIDIA RTX 4070 PC

model can be tested in MuJoCo made by Google DeepMind

MuJoCo simulation model

model can be tested in Isaac Sim made by NVIDIA

Isaac Sim simulation model

NVIDIA RTX 5070 for machine-learning training and inference

force-controllable humanoid motion functions

Cartesian impedance control; ZMP fall prevention; movement state machine; interference-detection safety stop

ROS-based software

RViz visualization; MoveIt! planning; sensor-information logging