T1 Overview¶
The Booster T1 is an open-source humanoid robot designed for developers and researchers. Standing 118 cm tall and weighing 30 kg, it features 23 degrees of freedom, a 14-core CPU, and an NVIDIA AGX Orin GPU with 200 TOPS AI performance. It supports ROS2, advanced motion control, multimodal AI interactions, and simulation platforms like Isaac Sim and Mujoco. The T1 can perform dynamic movements, including sports actions and technical maneuvers. With a 10.5Ah battery, it offers up to 2 hours of walking autonomy. A mobile app allows real-time control, making it ideal for robotics research and development.
T1 Radar and Camera FOV¶
The T1 robot features a highly advanced sensory system, integrating a 3D laser radar and an Intel depth camera to deliver exceptional environmental perception and spatial awareness. The 3D laser radar provides precise, real-time mapping and obstacle detection, ensuring safe navigation in dynamic environments. Meanwhile, the Intel depth camera enhances depth perception, enabling the robot to accurately identify objects, estimate distances, and adapt to varying terrains. Together, these sensors empower the T1 with superior situational awareness, making it well-suited for a wide range of applications, from industrial automation to research and exploration.
3D Laser Radar (Optional)¶
The 3D laser radar is integrated into the T1 head, offering exceptional environmental sensing capabilities. This lidar employs omnidirectional and full-angle scanning technology, achieving a horizontal field of view (FOV) of up to 360° and a maximum vertical angle of 59°. These features enable the T1 to acquire precise, real-time environmental data and generate high-resolution point cloud information. The system rapidly detects and measures objects in its surroundings, ensuring accurate and comprehensive spatial awareness.
Intel Depth Camera¶
The T1 is further enhanced with an Intel depth camera, significantly improving its visual perception capabilities. This advanced camera system enables the robot to perceive and interpret its surroundings with exceptional accuracy, ensuring precise spatial awareness and obstacle detection. By capturing depth information in real time, the T1 can intelligently analyze its environment, facilitating dynamic adaptation to diverse scenarios. These capabilities allow for more fluid and responsive interactions, making the T1 well-suited for complex navigation, object manipulation, and real-world applications requiring high levels of environmental awareness.
Combined FOV of LiDAR and Deapth Camera¶
By combining the 3D laser radar and the Intel depth camera, the T1 robot achieves a seamless and comprehensive field of view, enhancing its environmental perception and adaptability. This fusion of advanced sensors enables the T1 to gather precise spatial data, ensuring accurate navigation, obstacle avoidance, and object recognition. Whether deployed in structured or dynamic environments, the integrated perception system allows the T1 to respond intelligently to changing conditions, making it highly effective for a wide range of tasks, from industrial applications to research and exploration.
T1 Composition¶
The T1 robot is composed of a head, torso, arms, and legs, featuring a total of 23 degrees of freedom (DoFs), enabling dynamic movement and precise posture control.
Component |
DOF |
Joint Description |
|---|---|---|
Head |
2 DoFs |
Yaw and Pitch joints, integrated with a depth camera, microphone array, and speaker. |
Arm |
4 DoFs (Expandable) |
Shoulder Pitch, Shoulder Roll, Shoulder Yaw, and Elbow joints. |
Waist |
1 DoF |
Waist Yaw joint. |
Leg |
6 DoF |
Hip Pitch, Hip Roll, Hip Yaw, Knee, and Ankle joints. |
T1 Key Features¶
The T1 robot is equipped with a range of advanced features designed to enhance its performance, versatility, and user experience. These features are listed below:
Features |
Description |
|---|---|
Omnidirectional Walking |
Forward, backward, lateral movements, and rotation. |
Disturbance Resistance |
Can walk on uneven surfaces and withstand minor impacts. |
Predefined Actions |
Waving, standing, and head movement. |
Safety Features |
Automatic damping mode in uncontrolled states, emergency stop mechanisms. |
T1 On-Board Computer¶
The T1 onboard system is equipped with one standard operation and control computing unit with intigrated AI capable GPU for development.
Development Computing Unit¶
Parameter |
Specification |
Motion Control Board |
|
Model |
Intel Express-i7 |
Performance Core Max Frequency |
4.80 GHz |
Efficiency Core Max Frequency |
3.90 GHz |
Memory |
8GB |
Storage |
512 GB |
Eathernet |
2× 1000M (Gigabit Ethernet) |
Wi-Fi 6 |
Yes |
Perception Board |
|
Model |
NVIDIA Jetson AGX Orin |
Max Frequency |
930 MHz |
AI Performance |
200 TOPS |
Memory |
32GB |
Storage |
512 GB |
Eathernet |
2× 1000M (Gigabit Ethernet) |
Wi-Fi 6 |
Yes |
IP Address |
192.168.10.101 |
T1 Joint Motor¶
The T1 joint motor is a custom-developed Booster Robotics motor, engineered for high performance and efficiency. It delivers a maximum torque of 130 N·m and features a hollow-axis design, optimizing the robot’s compactness and reducing weight. Additionally, the motor integrates dual encoders, providing high-precision position and velocity feedback, which is crucial for accurate motion control in dynamic environments.
Joint Serial Number and Limits¶
The following table provides the joint indices, names, and respective joint limits in radians:
Index |
Joint Name |
Limit (Degree) |
0 |
Head Yaw Joint |
-58 ~ 58 |
1 |
Head Pitch Joint |
-18 ~ 47 |
2 |
Left Shoulder Pitch Joint |
-188~ 68 |
3 |
Left Shoulder Roll Joint |
-94 ~ 88 |
4 |
Left Shoulder Yaw Joint |
-128 ~ 128 |
5 |
Left Elbow Joint |
-120 ~ 2 |
6 |
Right Shoulder Pitch Joint |
-188 ~ 68 |
7 |
Right Shoulder Roll Joint |
-88 ~ 94 |
8 |
Right Shoulder Yaw Joint |
-128 ~ 128 |
9 |
Right Elbow Joint |
-2 ~ 120 |
10 |
Waist Yaw Joint |
-15 ~ 58 |
11 |
Left Hip Pitch Joint |
-118 ~ 118 |
12 |
Left Hip Roll Joint |
-21 ~ 88 |
13 |
Left Hip Yaw Joint |
-58 ~ 58 |
14 |
Left Knee Joint |
-11 ~ 123 |
15 |
Left Ankle Up Joint |
-23 ~ 49 |
16 |
Left Ankle Down Joint |
-24 ~ 45 |
17 |
Right Hip Pitch Joint |
-118 ~ 118 |
18 |
Right Hip Roll Joint |
-88 ~ 21 |
19 |
Right Hip Yaw Joint |
-58 ~ 58 |
20 |
Right Knee Joint |
-11 ~ 123 |
21 |
Right Ankle Up Joint |
-23 ~ 49 |
22 |
Right Ankle Down Joint |
-24 ~ 45 |
The image below displays the Booster Robotics T1 humanoid robot with all joints labeled. It serves as a visual reference, correlating the joint numbers and names listed in the table to their positions on the robot.
Reference Frame, Joint Axes, and Zero Position¶
When all joints are in their zero positions, the coordinate systems for the joints are as follows:
The X-axis is represented in red.
The Y-axis is represented in green.
The Z-axis is represented in blue.
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