Overview
Product SKU
| Parameters | PRO | EDU |
|---|---|---|
| Rendering |  | |
| Product Dimensions (Standing) (L x W x H) | 67cm x 35cm x 56cm | 67cm x 35cm x 56cm |
| Net Weight (excluding battery) | 15.8kg | 15.8kg |
| Maximum Power | 3200W | 3200W |
| Power Supply Voltage | 22V-36V | 22V-36V |
| Degrees of Freedom | 13 | 13 |
| Basic Computing Power | 8-core High Performance CPU | 8-core high-performance CPU |
| Maximum speed | 3.0m/s | 3.0m/s |
| Maximum load | 10kg | 10kg |
| Maximum climbing height | 16cm | 16cm |
| Maximum climbing angle | 40° | 40° |
| Battery life | 1.5-3.0h | 1.5-3.0h |
| Actuator Type | High-Power-Density Motion Unit | High-Power-Density Motion Unit |
| Maximum Joint Torque | Approximately 37.5N·m | Approximately 37.5N·m |
| Aluminum Alloy Precision Joint Motors | 12 | 12 |
| Joint Motion Range (Body) | -37.0°-45.0° | -37.0°-45.0° |
| Joint Motion Range (Thigh) | -207.5°-72.5° | -207.5°-72.5° |
| Joint Motion Space (Lower Leg) | -143.0°-30.0° | -143.0°-30.0° |
| MIC Array | ● | ● |
| 4K Camera | ● | ● |
| Binocular Camera | ● | ● |
| Ultra-Wide-Angle Camera | ● | ● |
| Depth Camera | ● | ● |
| Ultrasonic Sensor | ● | ● |
| Touch Sensor | ● | ● |
| LiDAR | ● | ● |
| Intelligent Follow | ● | ● |
| Emotion Engine | ● | ● |
| Head-to-Body Linkage | ● | ● |
| All-Terrain Mode | ● | ● |
| Action Imitation | ● | ● |
| Human Recognition | ● | ● |
| Cruise Mode | ● | ● |
| Intelligent Obstacle Avoidance | ● | ● |
| Graphical Programming | ● | ● |
| Action Stunts | ● | ● |
| Expression Display | ● | ● |
| Lighting Display | ● | ● |
| AI Voice Interaction | ● | ● |
| Touch Interaction | ● | ● |
| Photo and Video Recording | ● | ● |
| Real-Time Image Transmission | ● | ● |
| Secondary Development | ○ | ● |
| Installing an Expansion Dock | ○ | Optional |
| Handle | ● | ● |
| Battery | 29.6V 8200mAh 240.7W Quick Release | 29.6V 8200mAh 240.7W Quick Release |
| Adapter | 33.6V 3.5A 149W | 33.6V 3.5A 149W |
| Battery Charging Dock | ● | ● |
Parts List
The packaging components are as follows:
System Architecture
Part Name
Electrical interface
- The power interface has an output range of 22V to 33.6V and is used to power external devices. The interface has a load detection pin for controlling the power output.
- Ethernet interface Standard RJ45, connect to PC and other external devices
- Button 1 group control/single control button
- Button 2: Network configuration button
- SBUS interface UART communication interface
- SIM card SIM card interface, used for 4G networking.
- USB interface: Standard Type C interface, supports USB2.0/USB3.0.
Lidar
The STL-19P laser lidar uses DTOF technology and can perform ranging 5,000 times per second for motion obstacle avoidance.
The technical specifications are as follows:
| parameter | Development of computing units |
|---|---|
| Ranging range | 0.03-12 meters (80% reflectivity white target test) |
| Ranging accuracy | ±30mm @ 2-12m (white target), standard deviation 15mm |
| Scan frequency | Minimum 6 Hz, typical 10 Hz, maximum 13 Hz |
| Ranging frequency | 5000 Hz (fixed frequency) |
| Pitch angle error | Minimum 0.5°, maximum 2° |
| Yaw angle error | Min -1°, Typical 0°, Max 1° |
| Angular resolution | Typical 0.72° @ 10 Hz |
| Ambient light resistance | Maximum 60 KLux (refer to the ambient light test specification of Ledong) |
| lidar noise | Typical 45 dB (lidar placed horizontally in the forward direction, 30 cm away, tested with noise meter model AR824) |
| Machine life | 10,000 hours |
| Operating temperature | -10°C to 45°C |
| Storage temperature | -30°C to 70°C |
| Protection level | IP5X (see note "Dust and Waterproof") |
Indicator Lights
The taillight status meanings are as follows:
| Parameters | Development Computing Unit |
|---|---|
| Red light is solid | Battery level is below 20%, indicating a device abnormality |
| White light is solid | Device is normal, task completed |
| White light flashes quickly 3 times | Task processing |
| White light off | Power off |
| Blue light flashes 3 times | Mode switch |
| Red light solid on | Battery low, device abnormality |
Camera
| Parameters | Development Computing Unit |
|---|---|
| 4K Camera | Human Figure Recognition |
| Binocular Camera | |
| Ultra-Wide-Angle Camera | Obstacle Avoidance |
| Depth Camera | Obstacle Avoidance |
joint
Like animals, quadruped robots have a body (Trunk) and limbs (Legs) that are symmetrical. The four legs are divided into two groups, front and back.
The two groups were identical except for the front-to-back differences in coordinate system and range of motion of joints.
Index of each leg:
- 0: FR (front right)
- 1: FL (front left)
- 2: RR (rear right)
- 3: RL (rear left)
The specific parameter table is as follows:
| Parameters | Joint limiter |
|---|---|
| FR_hip_joint | -0.65 ~ 0.79 rad |
| FR_thigh_joint | -1.27 ~ 3.62 rad |
| FR_calf_joint | -2.50 ~ -0.52 rad |
| FL_hip_joint | -0.79 ~ 0.65 rad |
| FL_thigh_joint | -1.27 ~ 3.62 rad |
| FL_calf_joint | -2.50 ~ -0.52 rad |
| RR_hip_joint | -0.65 ~ 0.79 rad |
| RR_thigh_joint | -1.27 ~ 3.62 rad |
| RR_calf_joint | -2.50 ~ -0.52 rad |
| RL_hip_joint | -0.79 ~ 0.65 rad |
| RL_thigh_joint | -1.27 ~ 3.62 rad |
| RL_calf_joint | -2.50 ~ -0.52 rad |
Coordinate system, joint rotation axis and joint zero point
The rotation axis of the fuselage joint is the x-axis, the rotation axis of the thigh joint and the calf joint is the y-axis, and the positive direction of rotation conforms to the right-hand rule.
Robot specifications
Dimensions
| Parameters | Development Computing Unit |
|---|---|
| Bare Body Length, Width, and Height (Standing) | 67cm * 35cm * 56cm |
| Bare Body Length, Width, and Height (Lying Down) | 72cm * 44cm * 29cm |
| Bare Body Weight (excluding battery) | Approximately 15kg |
| Degrees of Freedom | 13 |
| Maximum Speed | 3.0m/s |
Environment
| Parameters | Development Calculation Unit |
|---|---|
| Operating Temperature | 5°C-35°C, operating in good weather conditions |
| Slope | +/- 30° |
| Maximum step height | 15cm |
Internal Related
| Parameters | Development Computing Unit |
|---|---|
| Processing Chip | 8-core Processor |
| 4G | SIM Card Insertable |
| Wi-Fi | WiFi 6 Dual-band wireless 802.11ax |
| Bluetooth | 5.2/4.2/2.1 |
| Storage | 64GB |
| Output power | DC 28.8V (battery voltage) |
| Connectivity | RJ45 Ethernet port |
Depth Camera
| Parameters | Development Computing Unit |
|---|---|
| Dimensions | 124mm*29mm*26mm |
| Minimum Depth Distance | 0.105m |
| Depth Image Resolution | 1280*720 @ 30fps; 848*480 @ 90fps |
| Depth Field of View | 86° * 57° (±3°) |
4K Camera
| Project | Parameter Description |
|---|---|
| Image Sensor | 1/3.06-inch CMOS Sensor |
| Maximum Resolution | 3840H×2880V |
| Pixel Size | 1.12um*1.12um |
| Exposure System | Auto Exposure |
| Electronic Shutter | Rolling Shutter |
| Interface Speed | 480MB/S (USB 2.0) |
| Operating Temperature | 0°C to 60°C |
| Storage Temperature | 0°C to 65°C |
| Focal Length | 2.22MM |
| Field of View | D:117° H:94.8° V:76.7° |
| Distortion | <10.3% |
| Spectral Characteristics | No IR filter |
| Aperture | 2.2±5% |
Binocular Camera
| Parameters | Parameter Description |
|---|---|
| Image Sensor | 1/4-inch CMOS Sensor |
| Maximum Resolution | 2560H×720V |
| Pixel Size | 3.0um*3.0um |
| Signal-to-Noise Ratio | 38dB |
| Dynamic Range | 63.9dB |
| Exposure System | Auto Exposure |
| Electronic Shutter | Global Shutter |
| Interface Speed | 480MB/S (USB2.0) |
| Operating Temperature | 0°C to 50°C |
| Storage Temperature | 0°C to 60°C |
| Connection Port | 5-pin 1.25mm USB 2.0 |
| Image Display Orientation | Upright |
| Focal Length | 3.15mm |
| Field of View | D:162° H:135° V:73° |
| Distortion | <14.3% |
| Spectral Characteristics | 650nm (Optical Filter) |
| Aperture | 2.35 |
Wide-Angle Camera
| Parameters | Parameter Description |
|---|---|
| Module Model | ZV-A0588-V5.1 |
| Module Dimensions | 32.00mm × 32.00mm × 15mm |
| Operating Temperature | -30°C to 80°C |
| Storage Temperature | -10°C to 60°C |
| Camera Board Assembly Technology | SMT (ROHS) |
| Focal Distance | 30cm to infinity |
| Supply Voltage | USB_5V |
| Connectivity | USB 2.0 -5P, 1.25mm Pitch, SMD Stick-On |
| Power | MAX 1W, Current 140mA to 160mA |
| Operating System | Win XP, Win 7, Linux 2.6.20 or later |
| Packaging | Anti-electrostatic tray |
| Sensor Type | (1/2.7”) |
| Maximum Effective Pixels | 2.0 Megapixels (WDR) |
| Maximum Dynamic Range | 85dB |
| Pixel Size | 3.0μm x 3.0μm |
| Lens Type | 1/2.7 inch |
| Lens Structure | 6G+IR |
| Aperture | 2.0 |
| Effective Focal Length | 2.0mm |
| Field of View | D:200° H:200° V:200° |
| Distortion | 110% |
| Filter | 650±10nm |
| Gain/Exposure/White Balance | Auto |