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DYNAMIXEL
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Full size open platform humanoid

To support and collaborate with mankind,
ROBOTIS has been developing THORMANG: Open platform humanoid

Basic Feature

  • ▪ Stable Walking with Human-Friendly Scale
  • ▪ DYNAMIXEL Pro based Modular Design with Full Metal Body
  • ▪ Powerful Dual PC-level Computing with Intel NUC
  • ▪ Various Sensing with Force/Torque Sensor, LIDAR/IMU/Camera
  • ▪ Mission Capability using Adaptive Gripper
  • ▪ Best for SLAM, Locomotion, Manupulation and HRI Research
  • ▪ Full ROS Support with 3D CAD data and Open-Source SDK

H/W Architecture

Specification

THORMANG3
Weight 42kg
Height 137.5cm
Controller
(PC)		 Intel® NUC with Intel® Core™ i5 Processor
Sensor Logitech C920 HD Camera x 1
Intel Realsense x 1
Hokuyo UTM-30LX-EW x 1
F/T Sensor : ATi Mini58-SI-2800-120 x 2
IMU : MicroStrain 3DM-GX4-25 x 1
Actuator DYNAMIXEL PRO H-Series
DOF Head : 2DOF
ARM : 7DOF x 2
Waist : 1DOF
Under body : 6DOF x 2
(gripper x 2)
Battery LIPO 22.2V 22,000mA & 18.5V 11,000mA
Control
Environment		 OS : Linux Ubuntu LTS (64bit)
SW : ROS / GNU C++ (g++)
Library : Motor Control, Manipulation,
Head Control, Walking Engine, Sensor control

Advantages of THORMANG

  • ▪ DYNAMIXEL PRO H-Series x 29 DOF
  • ▪ Easy Maintenance and Customizing
  • ▪ Full ROS Support with 3D CAD, Open-Source SDK
  • ▪ Rviz, PCL, MoveIt Plug-in
  • ▪ Gazebo 3D Simulator

Usage of THORMANG

  • ▪ Rescue Mission
  • ▪ Research

Request for Quote

  • ▪ Availability: 12+ weeks upon order confirmation
  • ▪ Basic installation and maintenance training upon delivery
  • ▪ 1 year warranty
  • ▪ Special training, demonstration and development support (optional)