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| Specification |  Hanson Robotics Hanson Robotics Zeno R50Small / Desktop Humanoid 历史资料所列 Zeno R50 研究平台价格约 US$14,750；并非当前在售报价 |
|---|---|
| Basic Information | |
| Positioning / Application | 小型双足表情人形研究平台，用于人机交互、心理学、教育及孤独症干预研究 |
| Release Date | 2011-03-11 |
| Country | 美国 |
| Model Alias | Zeno R50 |
| Made In | 美国 |
| Overall Specifications | |
| Weight (kg) | 6.5 |
| Height (mm) | 635 |
| Material | Frubber 仿生弹性皮肤、塑料与铝 |
| Noise Level (dB) | — |
| Width (mm) | — |
| Folded Dimensions (mm) | — |
| Locomotion Type | biped |
| Color | — |
| Motion Performance | |
| Max Speed (m/s) | — |
| Payload (kg) | — |
| Peak Joint Torque (N·m) | — |
| Max Gradient (°) | — |
| Max Step Height (cm) | — |
| Jumping Capability (m) | — |
| Degrees of Freedom | |
| Total DOF (DOF) | 35 |
| Waist DOF (DOF) | — |
| Mechanical Structure | |
| Joint Type | 本体 25 自由度（双腿 12、腰部 1、手臂/肩部 12）与 10 自由度可更换表情头；采用 Dynamixel、Maxon 等执行器 |
| Joint Encoder | — |
| Joint Range of Motion | — |
| Sensors | |
| Sensors | 9 轴 IMU、双脚碰撞传感器，以及本体和腿部 21 个关节的温度、负载与位置传感器 |
| Camera | 双眼各 1 个 720p 30 fps 摄像头 |
| LiDAR | — |
| IMU | — |
| Obstacle Avoidance | — |
| Battery & Endurance | |
| Battery Capacity (Wh) | — |
| Runtime (h) | — |
| Charging Time (h) | — |
| Battery Voltage (V) | — |
| Power Supply (V) | — |
| Hot-swappable | — |
| Charging Power (W) | — |
| Charging Method | — |
| Compute Platform | |
| Onboard Compute | 1 GHz Vortex86DX x86 CPU、256 MB DDR2、最高 16 GB SD 存储 |
| AI Compute Module | — |
| Compute (TOPS) (TOPS) | — |
| Operating System | Ubuntu Linux |
| CPU Cores (核) | — |
| Safety & Environment | |
| Ingress Protection (IP) | — |
| Operating Temperature (°C) | — |
| Pinch Protection | — |
| Interaction & Communication | |
| Communication | — |
| Microphone | 2 个麦克风 |
| Speaker | — |
| Lighting | — |
| Voice Interaction | — |
| OTA Update | — |
| Development & Expansion | |
| Secondary Development (SDK) | 开放动画与控制 API，提供 Java 控制库和 C++ 接口 |
| Expansion Backplane | — |
| App Platform | — |
| Commercial Information | |
| Warranty (年) | — |