Centaur-G1 Context

Specifications

Total degrees of freedom: 20 DoF
Arm Dof Each: 7 DoF per arm
Per Arm Payload Kg: 5 kg maximum per arm
Repeatability Mm: ±0.1 mm, dual-arm repeat positioning
Battery Capacity Ah: 40 Ah
Working Radius: 2200 mm
robotics sensors: LiDAR; head RGB-D camera; wrist binocular macro cameras; six-axis end-effector force sensors
Software: ROS 2; Elite Control Interface; Isaac Sim environment
Battery Voltage Nominal: 48 V
Vertical Working Height Mm: 1500 mm
Positioning Accuracy Mm: ±10 mm chassis positioning
Length Mm: 960 mm
Width Mm: 660 mm
Height: 175 cm
Waist Dof: 3 DoF
Runtime: >4 h
Mobility Base: Mecanum wheels; omnidirectional drive
Navigation: Dual LiDAR; dynamic obstacle avoidance and mapping
Safety: Emergency-stop button
Control System: Force or hybrid force/position control; reinforcement-learning motion planning