TECHNOLOGY

Every layer of technology serves the task.

Not a stack of concepts, but a working system that integrates mobility, perception, force control, manipulation and intelligent decisions.

02REFERENCE MEDIA / MOCK

SYSTEM ARCHITECTURE

From real-time control to task decisions

Unified interfaces and modular architecture connect the robot body, dual arms and dexterous hands into one capability chain.

ROS 2 Humble, PREEMPT_RT, FAST DDS and real-time CAN FD / EtherCAT communication.

Cartographer, VINS-Fusion, Fast MDE and MoveIt 2 work together on localization, obstacle avoidance and planning.

Joint, grasp and task-level force control combine with admittance / impedance control for stable contact.

Head, torso, wrist and end-effector vision fused with fingertip, finger-pad and palm tactile sensing.

C++, Python, ROS 2 Topic / Service, Modbus and Windows / Linux SDK support.

Power-off locking, dual-circuit emergency stop, limit protection and protected core joints.

CONTROL LOOP

A continuous closed loop lets the robot adapt to the environment and contact state instead of repeating rigid trajectories.

01Perceive the environment and target
Vision, depth, touch and joint states enter the perception-fusion layer.
02Plan mobility and manipulation
Planning, inverse kinematics and collision detection generate executable trajectories.
03Execute with real-time force control
Real-time controllers drive the base, lift, dual arms and dexterous hands.
04Adapt through feedback
Actions are corrected online in response to slip, contact and obstacles.

SOFTWARE ECOSYSTEM

Use familiar robotics tools from algorithm validation through deployment.

OPERATING SYSTEM

Real-time Linux and low-latency FAST DDS communication.

MOTION

OMPL, CHOMP, planning, inverse kinematics and collision detection.

SIMULATION

Algorithm validation, digital twins and skill training.

DEVELOPMENT

Standard interfaces, examples and cross-platform development.