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| Specification |  PAL Robotics ARIWheeled Humanoid 联系 PAL Robotics 获取报价（官方未公开固定售价） |
|---|---|
| Basic Information | |
| Positioning / Application | 轮式社交人形机器人，用于 HRI 研究、接待导览、宣传娱乐、教育、零售与医疗交互 |
| Release Date | 2019 |
| Country | 西班牙 |
| Model Alias | — |
| Made In | — |
| Overall Specifications | |
| Weight (kg) | — |
| Height (mm) | 1650 |
| Material | — |
| Noise Level (dB) | — |
| Width (mm) | 530 |
| Folded Dimensions (mm) | — |
| Locomotion Type | wheeled |
| Color | — |
| Motion Performance | |
| Max Speed (m/s) | 1.5 |
| Payload (kg) | — |
| Peak Joint Torque (N·m) | — |
| Max Gradient (°) | — |
| Max Step Height (cm) | — |
| Jumping Capability (m) | — |
| Degrees of Freedom | |
| Total DOF (DOF) | 14 |
| Waist DOF (DOF) | — |
| Mechanical Structure | |
| Joint Type | — |
| Joint Encoder | — |
| Joint Range of Motion | — |
| Sensors | |
| Sensors | 头部 8 MP RGB（可升级 RGB-D）、前置 RealSense D435i RGB-D；可选热成像、后置立体鱼眼与 YDLIDAR TG15 |
| Camera | 头部 8 MP RGB（可升级 RGB-D）；前置 RealSense D435i RGB-D；可选后置立体鱼眼和热成像 |
| LiDAR | Optional YDLIDAR TG15 |
| IMU | — |
| Obstacle Avoidance | Optional Autonomous Navigation Pack uses laser sensors and front RGB-D camera |
| Battery & Endurance | |
| Battery Capacity (Wh) | — |
| Runtime (h) | 12 |
| Charging Time (h) | 5 |
| Battery Voltage (V) | 24 |
| Power Supply (V) | — |
| Hot-swappable | — |
| Charging Power (W) | — |
| Charging Method | Manual charger or optional autonomous docking station |
| Compute Platform | |
| Onboard Compute | Intel i5/i7/i9；8/16/32 GB RAM；265/512 GB 或最高 1 TB SSD |
| AI Compute Module | Optional NVIDIA Jetson Xavier NX or Orin |
| Compute (TOPS) (TOPS) | — |
| Operating System | Ubuntu LTS 64-bit；RT Preempt Linux；ROS Noetic |
| CPU Cores (核) | — |
| Safety & Environment | |
| Ingress Protection (IP) | — |
| Operating Temperature (°C) | — |
| Pinch Protection | — |
| Interaction & Communication | |
| Communication | Wi-Fi 802.11ax 双频 2.4/5 GHz；千兆以太网 |
| Microphone | 4-channel high-performance digital microphone array |
| Speaker | 2 × 30 W Hi-Fi full-range speakers |
| Lighting | 2 × 16 RGB ear LEDs and 40 RGB back LEDs; animated LCD eyes |
| Voice Interaction | On-board speech recognition, dialogue management and multilingual speech synthesis |
| OTA Update | — |
| Development & Expansion | |
| Secondary Development (SDK) | PAL SDK、标准 ROS 接口、MoveIt!、ROS 仿真教程及 Web GUI |
| Expansion Backplane | Gigabit Ethernet, 3 × USB 3.0, USB 2.0, HDMI, audio I/O and 12 V/3 A auxiliary power |
| App Platform | 内置 Web GUI，可由桌面电脑、手机或平板访问 |
| Commercial Information | |
| Warranty (年) | — |