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PaXini Tora Double One
Next Generation Lightweight General-Purpose Humanoid Robot
Youtube Videos
Smart Brain
Powerful Autonomous Learning and Generalization Capabilities
- Self-developed Omni-VTLA embodied AI mode
- High-performance computing platform AGX Orin
- PX-Core visual-tactile bimodal model control
Flexible Applications
Modular Design for Greater Pairing Freedom and Enhanced Adaptability
Robot Component
Product Parameters-PaXini Tora Double One
| Parameter | TORA DOUBLE ONE (P) | TORA DOUBLE ONE (X) |
|---|---|---|
|
Chassis
|
Model P: Dual-steer AGV Chassis | Model X: 4WD Foldable Chassis |
|
Dimensions (L x W x H, Stand)
|
686 x 528 x 1671 mm | 774 x 502 x 1687 mm |
|
Dimensions (L x W x H, Fold)
|
818 x 528 x 789 mm | 827 x 502 x 671 mm |
|
Weight
|
About 70 kg | About 73 kg |
|
Total DoF (Joint Actuators)
|
20 (excluding dexterous hands); 36 (20 + 8×2 with dexterous hand DexH5); 52 (20 + 16×2 with dexterous hand DexH13) | 22 (excluding dexterous hands); 54 (22 + 16×2 with dexterous hand DexH5); 58 (22 + 18×2 with dexterous hand GMH18) |
|
Head DoF
|
2 (Pitch + Yaw) | 2 (Pitch + Yaw) |
|
Waist DoF
|
4 (3 Pitch + 1 Roll) | 4 (3 Pitch + 1 Roll) |
|
DoF per Arm
|
7 | 7 |
|
Chassis Joint Actuators
|
- | 2 |
|
Chassis Drive Wheels
|
2 (Dual-Steer) | 4 (Dual Hub Motors + Dual Mecanum Wheels) |
|
Chassis Speed
|
Maximum Linear Speed: 1.8 m/s; Maximum Turning Speed: 6.76 rad/s | Maximum Linear Speed: 1.8 m/s; Maximum Turning Speed: 6.76 rad/s |
|
Available Dexterous Hand
|
DexH5 (5 Active DoF + 3 Passive DoF, 8 ITPU Modules); DexH13 (13 Active DoF + 3 Passive DoF, 11 ITPU Modules); GMH18 (11 Active DoF + 7 Passive DoF, 12 ITPU Modules) | DexH5 (5 Active DoF + 3 Passive DoF, 8 ITPU Modules); DexH13 (13 Active DoF + 3 Passive DoF, 11 ITPU Modules); GMH18 (11 Active DoF + 7 Passive DoF, 12 ITPU Modules) |
|
Rated Load for Arms
|
6.5 kg | 6.5 kg |
|
Arm Span
|
84 cm | 84 cm |
|
Waist Joint Torque
|
Rated 120 Nm | Rated 120 Nm |
|
Waist Length
|
57 cm | 57 cm |
|
Joint Reducer Type
|
Harmonic Drive | Harmonic Drive |
|
Quick-Swap Battery
|
Support | Support |
|
Joint Range of Motion
|
Head: Yaw ±90°, Pitch -38°~60°; Wrist: Flexion/Extension ±80°, Deviation ±90°; Elbow: Flexion/Extension -20°~155°, Forearm Rotation ±160°; Shoulder: Flexion/Extension ±160°, Abduction/Adduction -25°~150°, Upper Arm Rotation ±160°; Waist: Roll ±30°, Pitch ±80°, ±140°, ±90° | Head: Yaw ±90°, Pitch -38°~60°; Wrist: Flexion/Extension ±80°, Deviation ±90°; Elbow: Flexion/Extension -20°~155°, Forearm Rotation ±160°; Shoulder: Flexion/Extension ±160°, Abduction/Adduction -25°~150°, Upper Arm Rotation ±160°; Waist: Roll ±30°, Pitch ±80°, ±140°, ±90° |
|
High-Performance AI Computing Platform (Cerebrum)
|
Nvidia Jetson AGX Orin | Nvidia Jetson AGX Orin |
|
Real-Time Motion Control Module (Cerebellum)
|
X86 platform | X86 platform |
|
RGB Camera
|
1, Fisheye camera features 140° field of view (Head) | 1, Fisheye camera features 140° field of view (Head) |
|
RGBD Camera
|
2 (Head+Waist) | 2 (Head+Waist) |
|
3D LiDAR
|
1, 96 lines (Head) | 1, 96 lines (Head) |
|
IMU
|
2 (Head + Chassis) | 2 (Head + Chassis) |
|
MIC
|
Circular 6-MIC Array | Circular 6-MIC Array |
|
Speaker
|
5 W 8 Ω | 5 W 8 Ω |
|
Head-Mounted Auxiliary Light
|
Rated 15 W | Rated 15 W |
|
Wireless Communication
|
Wi-Fi, Bluetooth, 5G | Wi-Fi, Bluetooth, 5G |
|
Joint Encoder
|
Two Encoders with 18-Bit Resolution | Two Encoders with 18-Bit Resolution |
|
Cooling Method
|
Localized Air-Cooling | Localized Air-Cooling |
|
Battery Capacity (Energy)
|
54.5 Ah (1384.8 Wh) | 54.5 Ah (1384.8 Wh) |