Commercial robotHumanoid
Tokyo Robotics Torobo
Torobo robot profile with source-backed specifications.
Data & sources
- Official
- 2
- Unofficial research
- 1
Key specifications
- Height
- 1.615 m
- Weight
- approximately 120 kg
- Single-arm payload
- 7 kg in worst-case posture
- Runtime
- up to approximately 3 h
Specifications
View 1 sources
Physical specifications
3- Height
1.615 m
- Cart width
0.59 m
- Weight
approximately 120 kg
Actuation
5- Dual arm axes
7 axes for dual arms
- Waist axes
3 axes
- Neck axes
3 axes
- Waist degrees of freedom
3 axes: pitch, pitch, yaw
- Neck dof
3 axes: yaw, pitch, roll
Power
2- Power source
built-in battery; continuous operation while charging is also possible
- Runtime
up to approximately 3 h
Mobility
1- Undercarriage axes
4 axes for omnidirectional undercarriage
4-axis undercarriage (omnidirectional mobile base)
Manipulation
1- Single-arm payload
7 kg in worst-case posture
Sensors
7- Optional head sensor set
wide-angle stereo camera; fisheye camera; depth camera; stereo microphone
- Torque sensors
torque sensors at all arm and waist joints
- Head sensor set
ToF-based depth camera, a fisheye camera, a wide-angle stereo camera, and microphones
- Wide angle stereo camera count
1 wide-angle stereo camera
- Fisheye camera count
1 fisheye camera
- Depth camera count
1 depth camera
- Stereo microphone count
1 stereo microphone
Compute
12- Ros compatibility
ROS-compatible
- Gazebo support
Gazebo support
- Moveit support
MoveIt! support
- Onboard pc
standard onboard PC
- Optional nvidia rtx 4070 pc
optional second NVIDIA RTX 4070 PC
- Mujoco simulation model
model can be tested in MuJoCo made by Google DeepMind
MuJoCo simulation model
- Isaac sim simulation model
model can be tested in Isaac Sim made by NVIDIA
Isaac Sim simulation model
- Optional image processing pc
NVIDIA RTX 5070 for machine-learning training and inference
- Force controllable motion software
force-controllable humanoid motion functions
- Control and safety software
Cartesian impedance control; ZMP fall prevention; movement state machine; interference-detection safety stop
- Ros software base
ROS-based software
- Ros software tools
RViz visualization; MoveIt! planning; sensor-information logging
Other
7- Speaker count
speaker
- Tool flange terminals
24 V DC power supply terminal x 1; general-purpose signal wire x 8
- Digital input ports
8 digital inputs ports
- Digital output ports
8 digital outputs ports
- Analog input ports
8 analog inputs ports
- Analog output ports
8 analog outputs ports
- Ethernet ports
2 Ethernet ports
Gallery