X-Humanoid Tien Kung

7 per arm[2]

15 Ah / 48 V[1]

15 Ah / 48 V[2]

4 h[1]

4 h[2]

4.7 GHz[1]

4.7 GHz[2]

20[1]

42[2]

6 per leg[1]

6 per leg[2]

140 N·m[2]

143 N·m[2]

320 N·m[3]

275 TOPS per module × 2[2]

2 × NVIDIA Jetson AGX Orin 64GB[2]

16 GB[1]

16 GB[2]

ROS 1[1]

ROS 1[2]

Intel x86, 10 cores / 12 threads[1]

Intel x86, 10 cores / 12 threads[2]

Ubuntu 22.04.4 LTS[1]

Ubuntu 22.04.4 LTS[2]

256 GB[1]

256 GB[2]

Aluminum alloy frame; engineering plastic alloy shell[1]

Aluminum alloy frame; engineering plastic alloy shell[2]

1630 mm[1]

1630 mm[2]

173 cm[3]

43 kg[1]

56 kg[2]

60 kg[3]

Wi-Fi 6, Ethernet, Bluetooth[1]

Wi-Fi 6, Ethernet, Bluetooth[2]

CAN/EtherCAT, 1 kHz[1]

CAN/EtherCAT, 500–1,000 Hz[2]

4 h[1]

2 h[1]

Six-axis force sensing[2]

≥400 Hz[1]

>400 Hz[2]

4 linear-array microphones[2]

2[1]

4[2]

30 Hz[1]

30 Hz[2]

2 RGBD cameras; high-precision IMU[1]

4 RGBD cameras; IMU; 6-axis force[2]

2[2]