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| Specification |  小米机器人 CyberDog 2四足机器人 历史发布价 ¥12,999；当前官网未开放直接购买 |
|---|---|
| Basic Information | |
| Positioning / Application | 面向开发者与机器人研究者的第二代仿生四足机器人及开放开发平台 |
| Release Date | 2023-08-14 |
| Country | 中国 |
| Model Alias | CyberDog 2；铁蛋 2；MS2242CN |
| Made In | 中国 |
| Overall Specifications | |
| Weight (kg) | 8.9 |
| Height (mm) | 481 |
| Material | — |
| Noise Level (dB) | — |
| Width (mm) | 339 |
| Folded Dimensions (mm) | — |
| Locomotion Type | quadruped |
| Color | — |
| Motion Performance | |
| Max Speed (m/s) | 1.6 |
| Payload (kg) | 1 |
| Peak Joint Torque (N·m) | — |
| Max Gradient (°) | — |
| Max Step Height (cm) | — |
| Jumping Capability (m) | — |
| Degrees of Freedom | |
| Total DOF (DOF) | 12 |
| Waist DOF (DOF) | — |
| Mechanical Structure | |
| Joint Type | 12 台小米自研 CyberGear 微电机；单腿 3 自由度 |
| Joint Encoder | — |
| Joint Range of Motion | — |
| Sensors | |
| Sensors | 共 19 个视觉、触觉与听觉传感器：Intel RealSense D430 深度相机、13 MP AI 交互相机、1 MP RGB 相机、146° 鱼眼相机、YDLIDAR TG30、触摸、超声波、ToF、UWB、IMU 与 4 麦克风阵列等 |
| Camera | Intel RealSense D430 深度相机；13 MP AI 交互相机；1 MP RGB 相机；146° 鱼眼相机 |
| LiDAR | YDLIDAR TG30 |
| IMU | 内置 IMU |
| Obstacle Avoidance | 多模态融合感知与决策，结合深度视觉、激光雷达、超声波、ToF、鱼眼相机和 UWB |
| Battery & Endurance | |
| Battery Capacity (Wh) | 97.2 |
| Runtime (h) | 1.5 |
| Charging Time (h) | 1.5 |
| Battery Voltage (V) | 21.6 |
| Power Supply (V) | — |
| Hot-swappable | — |
| Charging Power (W) | — |
| Charging Method | 20 V / 10.5 A MAX 电源适配器；充电限制电压 24.9 V |
| Compute Platform | |
| Onboard Compute | 6 核 NVIDIA Carmel ARM v8.2 64-bit CPU；384 核 NVIDIA Volta GPU（48 Tensor Cores）；8 GB LPDDR4x；16 GB eMMC 5.1；32 GB 工业级 SD；双协处理器 |
| AI Compute Module | — |
| Compute (TOPS) (TOPS) | 21 |
| Operating System | Ubuntu 18.04 + ROS 2 |
| CPU Cores (核) | — |
| Safety & Environment | |
| Ingress Protection (IP) | — |
| Operating Temperature (°C) | 0–40 |
| Pinch Protection | — |
| Interaction & Communication | |
| Communication | Wi‑Fi 802.11 a/b/g/n/ac、Bluetooth 5.0、UWB；Type-C ×1；支持手机、UWB 蓝牙遥控器和语音控制 |
| Microphone | 4 麦克风阵列 |
| Speaker | — |
| Lighting | — |
| Voice Interaction | 小爱同学语音技术；唤醒词“铁蛋铁蛋” |
| OTA Update | — |
| Development & Expansion | |
| Secondary Development (SDK) | 系统代码、功能接口与外观结构图纸开放；支持 App 可视化图形界面和二次开发 |
| Expansion Backplane | — |
| App Platform | — |
| Commercial Information | |
| Warranty (年) | — |
| Overall Specifications | |
| Walking Height (mm) | — |
| Length (mm) | 562 |
| Motion Performance | |
| Continuous Walking Payload (kg) | — |