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R1
R1
Last updated: August 30, 2026
Locomotion Type
Wheeled
Stage
Demo
Height
130 cm
Degrees of Freedom
Disclosed modules: 8 DOF per arm, 4 DOF per hand, 2 DOF head; whole-robot total not stated
Hand DOF
4 DOF
Weight
51 kg
Max Speed
2.16 km/h
Dual-Arm Payload
3 kg
Battery Life
3 h
Release Year
2015
Computing
2 Nano-ITX Intel Core i7 computing units and a MYIR Xilinx-based Z-turn board; YARP open-source API with ROS interface.
Sensors
Joint position encoders; accelerometers and gyroscopes on most motor-control boards; pressure-sensitive skin on hands; 2 six-axis arm force-torque sensors; Xtion Pro Live RGB-D sensor; OV580 stereo camera module; 2 microphones; RPLidar laser scanner; hand pressure sensors and joint encoders.
R1 is IIT's wheeled service humanoid designed for affordable, safe operation around people. Its height-adjustable torso supports work at different surfaces; two 8-DOF arms, 4-DOF pressure-sensing hands, force-torque control, RGB-D/stereo vision and lidar support mobile manipulation and human-robot interaction.
Application Scenarios
Service-robotics research in offices, homes and malls; indoor navigation; door opening and object manipulation; perception and safe physical human-robot interaction; YARP/ROS algorithm development and simulation.
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