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TianJi

Tianji Marvin Series Full-Force-Control Humanoid Robot Arm

• Fixed humanoid robot arm designed for embodied AI research
• Dual 7DoF robotic arms with force control capabilities
• Supports robot teleoperation and multimodal data collection
• Integrated vision perception and robotic manipulation systems
• Compatible with ROS 2 and robot learning workflows

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.

Tianji Marvin Series Fixed Humanoid Robot Arm

Tianji Marvin Series is a fixed dual-arm robot platform designed for robotic manipulation research, force-controlled operation, teleoperation, and intelligent robotics development.

Featuring dual robotic arms with advanced motion control capabilities, Marvin Series provides a flexible hardware platform for researchers and developers working on robot learning, manipulation tasks, and real-world robotic applications.

Dual-Arm Force-Controlled Robot Platform

Marvin Series integrates dual robotic arms with high-precision motion control and force interaction capabilities.

The platform supports:

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

With precise robotic arm control and stable mechanical structure, Marvin Series is designed for research scenarios requiring accurate manipulation and physical interaction.

Teleoperation and Robot Data Collection

Marvin Series supports robot teleoperation workflows for collecting human demonstration data and developing intelligent robotic applications.

The platform can be integrated with teleoperation systems to capture:

  • Operator motion data
  • Robot trajectory data
  • Visual perception data
  • Multimodal datasets for robot learning

This enables researchers to explore data-driven robotic control and intelligent manipulation methods.

Vision-Based Robotic Manipulation

Marvin Series supports integration of vision systems for robotic perception and manipulation tasks.

Vision capabilities can be used for:

  • Object recognition
  • Workspace perception
  • Target positioning
  • Manipulation guidance

The combination of robotic arms and perception modules provides a development platform for research involving vision-based robotic operations.

Flexible Robotics Development Platform

Designed for universities, research institutions, and robotics developers, Marvin Series provides a modular platform for exploring advanced robotic applications.

Typical applications include:

  • Robot learning research
  • Robotic manipulation experiments
  • Teleoperation development
  • Intelligent automation research
  • AI robotics development

Key Features

  • Fixed dual-arm robot platform
  • Force-controlled robotic arm system
  • Teleoperation and data collection support
  • Vision-assisted manipulation capability
  • Flexible integration for robotics research
Tianji Marvin Series Full-Force-Control Humanoid Robot Arm
Tianji Marvin Series Full-Force-Control Humanoid Robot Arm
Tianji Marvin Series Full-Force-Control Humanoid Robot Arm
Tianji Marvin Series Full-Force-Control Humanoid Robot Arm
Tianji Marvin Series Full-Force-Control Humanoid Robot Arm
▤ Technical Specifications ⌃
Parameter Marvin M6S SRS-686 Marvin M6S CCS-696 Marvin M6S Lite CCS-615 Marvin M6S CCS-809 Marvin M3S Long CCS-920 Marvin M20S CCS-1050
Basic Parameters Number of Joints (Per Arm) 7 7 7 7 7 7
Rated Payload (Per Arm) 6KG 6KG 5KG 5KG 3KG 20KG
Wrist Configuration Traditional collaborative wrist Crossed-axis design Crossed-axis design Crossed-axis design Crossed-axis design Crossed-axis design
Working Reach (J2 Axis to End Flange) 686mm 696mm 615mm 809mm 920mm 1050mm
Weight (Per Arm) 11.45KG 12KG 8KG 12.7KG 13.1KG 30KG
Maximum TCP Speed 2m/s 2m/s 1.5m/s 2m/s 2m/s 2m/s
Repeatability ±0.03 ±0.03 ±0.03 ±0.04 ±0.04 ±0.1
Joint Torque Sensors Standard on all axes Standard on all axes Standard on all axes Standard on all axes Standard on all axes Standard on all axes
Camera Cable Embeddable in end-effector Embeddable in end-effector Embeddable in end-effector Embeddable in end-effector Embeddable in end-effector Embeddable in end-effector
Force Control Accuracy ≤0.15N, ≤0.05N·m ≤0.15N, ≤0.05N·m ≤0.15N, ≤0.05N·m ≤0.15N, ≤0.05N·m ≤0.15N, ≤0.05N·m ≤0.15N, ≤0.05N·m
End-Effector 6-Axis Force Sensor Optional Optional Optional Optional Optional Optional
Motion Range J1 ±178° ±178° ±173° ±178° ±178° ±170°
J2 ±120° ±120° ±120° ±120° ±120° ±120°
J3 ±178° ±178° ±173° ±178° ±178° ±170°
J4 +60°/-145° +60°/-145° +45°/-145° +60°/-145° +60°/-145° +60°/-145°
J5 ±178° ±178° ±173° ±178° ±178° ±170°
J6 ±110° ±60° ±60° ±60° ±60° ±60°
J7 ±178° ±90° ±90° ±90° ±90° ±90°
Maximum Speed J1-J7 180°/s 180°/s 180°/s 180°/s 180°/s J1-J4:120°/s J5-J7:180°/s
Protection & Electrical Ingress Protection Rating IP50 IP50 IP50 IP50 IP50 IP65
Brake Control All joints with brakes All joints with brakes J1-J4 with brakes All joints with brakes All joints with brakes All joints with brakes
Power Consumption 400W average 600W peak 400W average 600W peak 200W average 400W peak 400W average 600W peak 400W average 600W peak 1000W average 3800W peak
Communication Method EtherCAT EtherCAT EtherCAT EtherCAT EtherCAT EtherCAT
Communication Cycle ≤1ms ≤1ms ≤1ms ≤1ms ≤1ms ≤1ms
Encoder Dual absolute encoders Dual absolute encoders Dual absolute encoders Dual absolute encoders Dual absolute encoders Dual absolute encoders
On-board Interface (Power) 24VDC (rated current 3A) 24VDC (rated current 3A) 24VDC (rated current 3A) 24VDC (rated current 3A) 24VDC (rated current 3A) 24VDC (rated current 3A)
On-board Interface (Communication) RS485, CAN FD, EtherCAT RS485, CAN FD, EtherCAT RS485, CAN FD, EtherCAT RS485, CAN FD, EtherCAT RS485, CAN FD, EtherCAT RS485, CAN FD, EtherCAT
Operating Voltage Range 48V (±10%) 48V (±10%) 48V (±10%) 48V (±10%) 48V (±10%) 48V (±10%)

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