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TianJi

Tianji Marvin Pro Fixed Force-Controlled Humanoid Dual-Arm Platform

• Fixed dual-arm humanoid robot platform with 14 DoF robotic arm system
• Dual 7DoF arms with full force control and impedance control
• High-precision operation with ±0.03mm repeat positioning accuracy
• Integrated VR teleoperation and multimodal data acquisition system
• Supports ROS 2, HDF5/RLDS/MCAP data formats for robot learning

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.

Shipping

• Free shipping on qualifying orders. Eligibility and exact rates are calculated at checkout.
• Typical delivery 9 – 15 business days.
• Need it faster or shipping something large? Contact us for expedited options and a freight quote.

Tianji Marvin Pro

Fixed Dual-Arm Humanoid Robot Platform for Embodied AI Development

Tianji Marvin Pro is a fixed dual-arm humanoid robot platform designed for embodied AI research, robotic manipulation, teleoperation, and high-precision data acquisition.

With a rigid fixed-base structure and dual 7DoF robotic arms, Marvin Pro provides stable operation and precise force-controlled manipulation for industrial research, scientific experiments, and robot learning applications.

Dual-Arm Force Control System

Marvin Pro integrates two 7DoF robotic arms with full force control capability, supporting:

  • Position control
  • Impedance control
  • Force-position hybrid control

The system provides high-precision manipulation with repeat positioning accuracy up to ±0.03 mm, enabling reliable interaction tasks and force-sensitive operations.

Integrated Teleoperation and Data Collection Platform

Marvin Pro supports remote robot operation through an integrated VR teleoperation system.

The platform captures operator motion and visual information through VR devices and data gloves, while synchronously recording robot motion data and video streams to generate structured multimodal datasets.

Supported features include:

  • VR-based remote teleoperation
  • First-person visual transmission
  • Motion capture and robotic data acquisition
  • Multimodal dataset generation for robot learning

ROS 2 Compatible Robotics Development Platform

Designed for robotics developers and researchers, Marvin Pro supports ROS 2 communication workflows and provides flexible interfaces for integration.

The platform supports:

  • ROS 2 Topics and Services
  • Ethernet / CAN communication
  • HDF5, RLDS, and MCAP data formats
  • Conversion workflows for robot training datasets

Multi-Camera Perception System

Marvin Pro integrates a multi-camera perception system for environmental observation and manipulation tasks.

The vision system supports:

  • RGB-D perception
  • Target recognition
  • Point cloud acquisition
  • Workpiece inspection
  • Visual guidance for robotic operation

Applications

Marvin Pro is suitable for:

  • Embodied AI research
  • Robot learning and data collection
  • Robotic manipulation experiments
  • Industrial assembly research
  • Scientific laboratory automation
  • Humanoid robot development
Tianji Marvin Pro Fixed Force-Controlled Humanoid Dual-Arm Platform
Tianji Marvin Pro Fixed Force-Controlled Humanoid Dual-Arm Platform
Tianji Marvin Pro Fixed Force-Controlled Humanoid Dual-Arm Platform
Tianji Marvin Pro Fixed Force-Controlled Humanoid Dual-Arm Platform
▤ Technical Specifications ⌃
Robot Arm Specifications
Specifications Marvin Pro+M6 Lite Marvin Pro+M6
Arm Degrees of Freedom 7DoF ×2, standard joint force control 7DoF ×2, standard joint force control
Single-arm Rated Payload 5kg 6kg
Working Radius 615mm 696mm
Repeatability ±0.03mm ±0.03mm
Force Repeatability 0.15N 0.15N
Maximum Joint Speed J1-J7: 180°/s J1-J7: 180°/s
Control Modes Position control, impedance control, force-position hybrid control Position control, impedance control, force-position hybrid control
Communication Protocol 1kHz EtherCAT 1kHz EtherCAT
Braking Method J1-J4 with brakes All-joint brakes
End-Effector Interface RS485, CAN, EtherCAT RS485, CAN, EtherCAT
Six-axis Force Sensor at End Effector Optional Accessories Optional Accessories
End-Effector Dexterous Hand Self-developed Gripper, Wuji Dexterous Hand, compatible with mainstream dexterous hands available on the market Self-developed Gripper, Wuji Dexterous Hand, compatible with mainstream dexterous hands available on the market
Basic Machine Specifications
Specifications Value
Overall Degrees of Freedom 14DoF (excluding dexterous hand, 7DoF × 2 dual arms) -
Base Type Fixed-height rigid bracket -
Head Fixed, no degrees of freedom -
Vertical Workspace 0.6-1.8m -
Total Weight ≈80kg -
Force Control System Dual-arm standard with force control -
Communication Interface WiFi, Ethernet -
Vision Camera System
Position Model and Quantity Features
Head D435 RGB-D ×1 SH5WG RGB ×2 Environmental perception, global positioning, point cloud acquisition, target recognition
Wrist SH5WG RGB ×2 End-effector precise positioning, workpiece inspection, and operation vision guidance
Total 5 cameras Standard on all models, no options needed
Computing Platform Specifications
Specifications Option 1 Option 2
Main Control Platform NVIDIA Jetson Orin AGX 64G (275TOPS) NVIDIA Thor
CPU 12 cores, max frequency 2.2GHz 14 cores, max frequency 2.6GHz
GPU Max frequency 1.3GHz Max frequency 1.53GHz
Electrical Specifications
Specifications Value
Power Supply Method Direct AC power supply (AC 220V), compatible with overseas voltages -
Operating Time 24-hour continuous operation -
Charging/Battery None (fixed power supply, no battery module) -
Teleoperation System
Category Specification
Platform Positioning Marvin6-Apex Teleoperation System -
Control Modes Position Control + Impedance Control -
Control Frequency 500Hz -
Data Sampling Rate 500Hz -
Communication Interface Ethernet/CAN-FD -
ROS Support ROS 2 Supported -
Data Formats HDF5, RLDS -
End-to-End Latency <100ms -
Degrees of Freedom 16DOF -
Power Consumption 300W (Average), 600W (Peak) -
Operating Voltage Range 48V (±15%) -
Video Resolution 2560×720 -
Frame Rate 30FPS -
Transparent Transmission Supported -
Compatible Dexterous Hand Platforms Wuji, Sharpa, Qianmo, etc. -
Optional End Effectors Vision-Tactile Gripper -

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