• Worldwide Express Shipping
GET A QUOTE

Get A Quote

1 8
TianJi

Tianji Gento Luna Wheeled Folding Robot

• Wheeled folding robot with 26 DoF (excluding dexterous hands)
• Dual 7-DoF force-controlled robotic arms
• Omnidirectional mobile chassis with in-place rotation
• Full-body force control with compliant interaction
• NVIDIA Jetson Orin AGX 64GB computing platform
• Supports ROS 2, SDK, and secondary development

Version

Warranty
  • 1-year limited warranty for the main unit.
  • 6-month limited warranty for the battery.
  • For service support, please contact customer care with proof of purchase.

Bulk pricing and exclusive academic discounts are available for universities and research institutions.

Developer Support

Tianji Gento Luna product overview, specifications and teleoperation system.pdf ▶

Tianji Gento Luna Wheeled Folding Robot

Tianji Gento Luna is a wheeled folding robot platform designed for robotics research, intelligent automation, and advanced robot development. Combining a dual-arm robotic system, omnidirectional mobile chassis, and open computing platform, Gento Luna provides a flexible foundation for exploring mobile manipulation and embodied robotics applications.

Dual-Arm Force-Controlled Robotic System

Gento Luna features dual 7-DoF robotic arms with standard joint-level force control. The robotic arms support position control, impedance control, load identification, and force-position hybrid control, with a single-arm rated payload of 5kg and repeatability of ±0.03mm.

Omnidirectional Mobile Platform

Equipped with a four-wheel drive and four-wheel steering chassis, Gento Luna supports omnidirectional movement and flexible navigation. The mobile platform provides a rated load of 100kg and integrates navigation capabilities including 3D SLAM navigation, 3D LiDAR mapping, obstacle avoidance, and autonomous charging.

Open Robotics Development Platform

Gento Luna integrates high-performance computing options including NVIDIA Jetson Orin AGX 64GB and supports open robotic development through flexible communication interfaces. With support for robotic software development and expandable components, it provides an ideal platform for universities, research institutions, developers, and robotics applications.

Key Specifications

• Whole machine: 26 DoF (excluding dexterous hands)

• Dual robotic arms: 7 DoF × 2

• Single arm payload: 5kg

• Repeatability: ±0.03mm

• Mobile chassis: Four-wheel drive + four-wheel steering

• Navigation: 3D SLAM, 3D LiDAR, obstacle avoidance

• Computing platform: NVIDIA Jetson Orin AGX 64GB / Jetson Thor option

• Communication interface: Wi-Fi / Ethernet

Applications

Gento Luna is designed for robotics research, education, intelligent automation exploration, human-robot interaction studies, and secondary development of mobile manipulation systems.

Tianji Gento Luna Wheeled Folding Robot
Tianji Gento Luna Wheeled Folding Robot
Tianji Gento Luna Wheeled Folding Robot
Tianji Gento Luna Wheeled Folding Robot
Tianji Gento Luna Wheeled Folding Robot
Tianji Gento Luna Wheeled Folding Robot
▤ Technical Specifications ⌃
Mechanical Arm Parameters
Parameter Specification
Model Luna M6 Lite
Degree of Freedom 7 DoF × 2
Force Control Standard joint-level force control
Rated Load (Single Arm) 5kg
Working Radius (Axis J2 to End Flange) 615mm
TCP Maximum Speed 1.5m/s
Repeatability ±0.03mm
Force Repeatability ≤0.15N
Range of Motion J1:±178°, J2:±120°, J3:±178°, J4:+60°/-145°, J5:±178°, J6:±60°, J7:±90°
Maximum Speed J1~J7:180°/s
Communication Protocol 1 kHz EtherCAT
Brake Control (Braking) Brakes on J1-J4
Function Position Control, Impedance Control, Load Automatic Identification, Force-Position Hybrid Control
Arm End Interface RS485, CAN fd, EtherCAT, CAN, 24V(3A), 48V
End-Effector 6D Force Sensor Optional
End-Effector Camera Optional
End Effector Self-developed Gripper (Optional)
Overall Machine Basic Parameters
Parameter Specification
External Dimensions L670mm×W548mm×H1700mm (standing) L850mm×W548mm×H790mm (folded)
Vertical Workspace 0-2.1m
Gross Weight 144kg
Ambient Temperature -10~40°C
Battery Life 4h-6h
Communication Interface Wi-Fi/Ethernet
Degree of Freedom (Whole Machine) 26 DoF (excluding dexterous hands)
Drive Four-wheel drive + four steered wheels, omni-directional movement
Force Control Standard configuration (whole machine)
Thoracic RGB-D Camera Optional
Head Parameters
Parameter Specification
Degree of Freedom 2 DoF (Pan/Tilt)
Range of Motion J1 Rotation: +90°, J2 Tilt: 30°/-25°
Communication Protocol 1 kHz EtherCAT
Brake Control (Braking Method) All joints equipped with brakes
Camera RGBD + Binocular
Microphone 4-Mic Array
Computing Platform
Parameter Standard Equipment High-Performance Configuration
Main Processor NVIDIA Jetson Orin AGX 64G (275TOPS) NVIDIA Jetson Thor T5000 (2070 TFLOPS)
CPU 12 cores 12 cores
Maximum CPU Frequency 2.2GHz 2.2GHz
Maximum GPU Frequency 1.3GHz 1.3GHz
Thorax
Parameter Specification
Stereophonic Speaker 2 × 5W Speakers
Waist
Parameter Specification
Range of Motion JB3 Rotation: ±170°, JB4 Side-sway: ±30°, JB5 Yaw: 55°/-110°
Force Control Standard
Leg
Parameter Specification
Range of Motion JB6 Yaw:60°/-140°, JB7 Yaw:±90°, JB8 Side-swing:±11°
Force Control Standard
Mobile Chassis Parameters
Parameter Specification
Chassis Dimensions L670mm×W548mm×H386mm
Rated Load 100kg
Power Supply Lithium Iron Phosphate Battery DC48V; 34.4Ah
Charging Methods Manual Charging / Automatic Charging / Battery Swapping
Charging Time ≤1.5h
Speed 1.5m/s
Climbing Angle ≤10°
Stopping Accuracy ±20mm (Position), ±1° (Angle)
Navigation System 3D SLAM Navigation, 3D LiDAR, diagonally mounted Ultrasonic sensors distributed Front/Back/Left/Right, 2 each
Charging Station Optional
Functions 3D LiDAR, navigation planning, dynamic obstacle avoidance, autonomous localization, map building, auto charging, cross-floor navigation or navigation through automatic doors

Frequently Asked Questions

Where do you ship from?

Robotopian operates fulfillment capabilities in Shenzhen, China and Santa Clara, California. Depending on the product, inventory condition, production arrangement, and destination, orders may ship from different locations.

At this time, most newly manufactured robot orders ship primarily from Shenzhen, China. Selected inventory may also ship from Santa Clara when available.

Why are many orders shipped from China?

Most robotic products today still rely heavily on China-based supply chains. Many models enter sourcing, production scheduling, or manufacturing only after an order is placed.

By working directly with the China supply chain and our Shenzhen fulfillment system, Robotopian can coordinate procurement, warehouse handling, international transportation, and cross-border delivery more efficiently. In many cases, this also helps us provide a clearer cost structure and a more competitive fulfillment model.

In other words, shipping directly from China does not necessarily make the process more complicated. In many cases, it is actually a more direct and efficient way to fulfill specialized robotics orders.

Which countries do you ship to?

Robotopian ships to a broad range of major countries and regions worldwide. Actual destination availability may vary depending on the product type, local import regulations, shipping conditions, and fulfillment feasibility.

Common destinations may include, but are not limited to:

United States

Canada

United Kingdom

Germany

France

Netherlands

Australia

New Zealand

Singapore

Japan

If your country or region is not shown at checkout, please contact the Robotopian team and we will evaluate a suitable shipping option for you.

Does your pricing include duties, taxes, and shipping costs?

Where applicable, Robotopian aims to include standard cross-border fulfillment costs in the quoted order total and to make the major cost components clear before checkout.

This may include:
product price
international shipping
standard customs clearance handling
applicable import duties and taxes
last-mile delivery
standard residential or remote-area surcharges
applicable special transportation surcharges

Why was my order split into multiple packages?

In some cases, one order may be split into multiple parcels or shipped from different fulfillment locations.

This may happen because:
the main unit and accessories become ready at different times
different items are fulfilled from different warehouses
some items are ready earlier and can ship first
different products require different shipping arrangements

If split shipment occurs, Robotopian will make reasonable efforts to share the relevant shipping information.

Do I need to handle customs clearance myself?

In most cases, no.

For standard cross-border orders, Robotopian will usually coordinate shipping, customs, and delivery arrangements to reduce complexity for the customer.

In some cases, local customs authorities, delivery agents, or carriers may contact the recipient directly to verify delivery information, recipient identity, or local clearance requirements. If that happens, you may contact the Robotopian team and we will assist.

What should I do if I am asked to pay an extra charge?

If you are asked to pay a charge that you believe should already have been included in your quoted order total, please contact the Robotopian team promptly.

We will review the quotation, payment record, shipping arrangement, and actual situation. If the charge is confirmed to fall within the covered standard scope, Robotopian will assist in resolving the issue.

What should I do if my package is lost, damaged, or shows a delivery exception?

If your order experiences any of the following:

lost package
obvious package damage
delivery exception
delivery status inconsistent with the actual receipt of goods

please contact the Robotopian team within 72 hours. We will assist, based on the actual case, in following up with the carrier, customs intermediary, or related service providers.

Do you offer additional shipping insurance or shipment protection?

For certain eligible orders, Robotopian may be able to provide additional shipping protection or commercial insurance options upon request.

Because eligibility depends on the product, destination, and shipping method, availability, structure, and pricing will need to be confirmed case by case.

Do you offer appointment delivery, installation, or special delivery services?

For certain eligible orders, Robotopian may offer additional services such as:

appointment-based delivery
special delivery arrangements
on-site installation
deployment support
other project-based customized fulfillment services

These services are generally not included in standard delivery. If needed, please contact the Robotopian team in advance to confirm feasibility and pricing.

Is the order considered delivered once it is signed for?

Generally, yes. Once a shipment has been signed for, it is usually considered delivered.

If you discover a delivery issue, missing goods, or another shipping-related problem after receipt, please contact the Robotopian team within 72 hours so we can assist promptly.

How long will it take before my order ships?

That depends on the type of product you ordered.

In-stock items: usually move into warehouse processing and dispatch shortly after payment is confirmed.

Pre-order items: dispatch timing depends on the brand’s supply schedule and incoming availability.

Made-to-order / production-scheduled items: these typically go through sourcing, production, or scheduling first. From confirmed payment to the point when the order is ready for dispatch from Shenzhen, the estimated lead time is usually 10–30 days.

For U.S. orders that have completed preparation and shipped from Shenzhen, the estimated transit time is typically 3–7 business days. Delivery timing for other destinations will vary.

Why hasn’t my tracking updated right after shipment?

This is common in international shipping.

After an order is packed and assigned for shipment, tracking may not update immediately until the parcel is scanned by the first carrier, handed through the airport process, or entered into the destination country’s local carrier network.

If your tracking does not change during the first few days after shipment, that is usually normal and does not necessarily mean the parcel is not moving.

Will I receive a tracking number after shipment?

Yes. Once the order is officially dispatched from Shenzhen or the applicable fulfillment location, Robotopian will provide a tracking number so you can follow the shipment progress.

Depending on the shipping route, some orders may show limited tracking information during the early stages of international transit. Tracking details usually become more complete as the shipment moves through later carrier networks.

Can I cancel my order?

Yes, but the rules depend on the order stage.

Orders may be cancelled free of charge within 24 hours of placement.

If the order has already entered sourcing, production, scheduling, or manufacturing, Robotopian will refund 60% of the amount paid and retain 40% as a cancellation fee. This helps cover supplier deposits, scheduling allocation, and related processing costs.

Whether the order has entered one of these stages will be determined based on Robotopian’s internal system records and supply chain confirmation.

Can I change my shipping address?

Yes, but please contact us as early as possible.

You may request an address change before the order is officially dispatched. If the order has already shipped, additional charges caused by rerouting, address changes, or shipment interception may apply and will generally be the customer’s responsibility.

What happens if I refuse delivery?

If an order has already shipped and the customer refuses delivery, the parcel will usually be returned. Any return shipping charges, return handling fees, and other incurred costs will generally be the responsibility of the customer.

If you have concerns about the order, it is best to contact the Robotopian team before the shipment is dispatched.

  • Or send us a message

    hi@robotopian.com