DESCRIPTION
Mini Pi Plus is the full humanoid in High Torque's Pi line and the machine the company points at when it talks about research credibility: it took half the quarter-final places at RoboCup's small-size humanoid soccer event, and work built on it was accepted at the RSS 2026 WCBM workshop. The specification explains why it travels well — 75.6 cm and 15 kg gives a near 1:1 mass-to-torque ratio at 21 Nm peak, so the robot is strong enough for backflips, terrain traversal and fall recovery on real hardware rather than only in simulation. Twenty-three degrees of freedom cover head, shoulders, elbows, wrists, hips, knees and ankles, all speaking CAN-FD, and the platform is deliberately open: Python and C++ SDKs, ROS 1 and ROS 2, published URDF, and compatibility with NVIDIA Isaac Lab, Isaac Gym and MuJoCo. Compute is RK3588 with a 6 TOPS NPU on the standard build or a Jetson Orin NX at 100 TOPS on Pi Plus Pro, which also adds a D435i or ZED mini depth camera.
FEATURES
- 23 DoF humanoid at 75.6 cm and 15 kg with a near 1:1 mass-to-torque ratio
- 21 Nm peak joint torque with CAN-FD across all joints
- demonstrated backflips, terrain traversal and fall recovery on real hardware
- two compute tiers — RK3588 with 6 TOPS NPU, or NVIDIA Jetson Orin NX at 100 TOPS on Pi Plus Pro with a D435i or ZED mini depth camera
- six-axis IMU plus an eight-microphone array
- 21.6 V 4,500 mAh pack for 1-2 hours
- Python and C++ SDKs with ROS 1 and ROS 2, published URDF, and NVIDIA Isaac Lab, Isaac Gym and MuJoCo compatibility
- built on the modular Unit Box core and eleven shared-protocol servo variants from 2-20 Nm
- optional gripper and vision-camera accessories
- documented joint ranges across head, shoulder, elbow, wrist, hip, knee and ankle.
TECHNICAL SPECIFICATIONS
Verified| Physical | |
| Weight | 15 kg |
|---|---|
| Dimensions | H 756 mm |
| Mobility | |
| Movement Type | Bipedal |
| Degrees of Freedom | 23 |
| Manipulation | Mid |
| Actuators | 23 servo joints on High Torque's own modules, CAN-FD throughout, 21 Nm peak torque; head 2 DoF, shoulders 3 DoF each, elbows, wrists, hips 3 DoF each, knees and ankles 2 DoF each; built on the modular Unit Box core with 11 servo variants from 2-20 Nm at ratios 7-36 |
| Power | |
| Battery Life | 1-2 h |
| Sensing & Compute | |
| Sensors | 6-axis IMU, 8-microphone array, Intel RealSense D435i or ZED mini depth camera (Pi Plus Pro) |
| Connectivity | CAN-FD across all joints; Bluetooth and Wi-Fi (Pi Plus); Bluetooth and WNIC (Pi Plus Pro); USB 3.0 x1, USB 2.0 x3 and HDMI 2.0 x1 (Pi Plus), Type-C x2, USB 2.0 x2 and HDMI 2.0 x1 (Pi Plus Pro) |
| Software / AI | Python and C++ SDK with ROS 1 and ROS 2 and full API documentation; complete URDF model published; compatible with NVIDIA Isaac Lab, NVIDIA Isaac Gym and MuJoCo; OTA and firmware upgrade; voice interaction |
TECHNICAL SPECIFICATIONS
Verified| Physical | |
| Weight | 15 kg |
|---|---|
| Dimensions | H 756 mm |
| Mobility | |
| Movement Type | Bipedal |
| Degrees of Freedom | 23 |
| Manipulation | Mid |
| Actuators | 23 servo joints on High Torque's own modules, CAN-FD throughout, 21 Nm peak torque; head 2 DoF, shoulders 3 DoF each, elbows, wrists, hips 3 DoF each, knees and ankles 2 DoF each; built on the modular Unit Box core with 11 servo variants from 2-20 Nm at ratios 7-36 |
| Power | |
| Battery Life | 1-2 h |
| Sensing & Compute | |
| Sensors | 6-axis IMU, 8-microphone array, Intel RealSense D435i or ZED mini depth camera (Pi Plus Pro) |
| Connectivity | CAN-FD across all joints; Bluetooth and Wi-Fi (Pi Plus); Bluetooth and WNIC (Pi Plus Pro); USB 3.0 x1, USB 2.0 x3 and HDMI 2.0 x1 (Pi Plus), Type-C x2, USB 2.0 x2 and HDMI 2.0 x1 (Pi Plus Pro) |
| Software / AI | Python and C++ SDK with ROS 1 and ROS 2 and full API documentation; complete URDF model published; compatible with NVIDIA Isaac Lab, NVIDIA Isaac Gym and MuJoCo; OTA and firmware upgrade; voice interaction |
Images
martti
martti
martti
martti
marttiImage Contributions
Videos
ROBOT FORUMS
Loading forums...
RATINGS
FREQUENTLY ASKED QUESTIONS
What is the Mini Pi Plus?
Mini Pi Plus is the full humanoid in High Torque's Pi line and the machine the company points at when it talks about research credibility: it took half the quarter-final places at RoboCup's small-size humanoid soccer event, and work built on it was accepted at the RSS 2026 WCBM workshop.
Who makes the Mini Pi Plus?
The Mini Pi Plus is made by High Torque Technology, a robotics company based in China.
How much does the Mini Pi Plus cost?
The Mini Pi Plus is priced at around $5,500.
What is the Mini Pi Plus used for?
The Mini Pi Plus is designed for research, humanoid locomotion research, reinforcement-learning training, and robocup humanoid soccer. It is used in research and education settings.
How much does the Mini Pi Plus weigh?
The Mini Pi Plus weighs 15 kg.
What is the battery life of the Mini Pi Plus?
The Mini Pi Plus runs for 1-2 h on a charge.
How many degrees of freedom does the Mini Pi Plus have?
The Mini Pi Plus has 23 degrees of freedom.
COMPARE WITH SIMILAR ROBOTS
See how this robot stacks up against its closest alternatives
- Mini Pi Plus vs Mini Pi
- Mini Pi Plus vs Lanxin H6 Standard
- Mini Pi Plus vs yobot R2V1
- Mini Pi Plus vs YMBot Type E3
- Mini Pi Plus vs InMoov