X-Bot

描述

X-Bot是Yue Quan Bionics的Humanoid。 面向物料搬运、研究设计。 关键数据：65 kg、51 自由度。

X-Bot is Yue Quan's full-size bipedal humanoid and the clearest expression of its bionic thesis: 1.67 m and 65 kg, driven by up to 51 quasi-direct-drive flexible force-controlled actuators. Quasi-direct drive matters here — with little gearing between motor and joint the robot can feel what it touches and yield to it, which is what makes force control credible rather than nominal. The legs carry four high-sensitivity quasi-direct-drive force-controlled joints on a 7:1 gear ratio, which the company claims as the highest torque density in the field. The numbers support it: 340 N·m at both knee and hip, against 46 N·m at the ankle and 60 N·m at the arm joints. It walks at up to 1.5 m/s. Fifty-one degrees of freedom are distributed as six per leg — three at the hip, one at the knee, two at the ankle — seven per arm, and three at the waist. Control is split between a NUC12WSKi7 running whole-body dynamics control and model-predictive control as the cerebellum, and an NVIDIA Jetson Orin NX 16 GB as the brain for vision and higher decisions. Perception is an Intel RealSense D435 depth camera and a Livox 360-degree LiDAR, and an 1,188 Wh battery feeds it at 48 V.

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