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| Specification |  北京人形机器人创新中心 Tian Yi 2.0Wheeled Humanoid 联系北京人形机器人创新中心询价（官方未公开固定售价） |
|---|---|
| Basic Information | |
| Positioning / Application | Reception and guidance, autonomous patrol and inspection, teleoperation, and wheeled mobile manipulation |
| Release Date | — |
| Country | China |
| Model Alias | 天轶 2.0 |
| Made In | — |
| Overall Specifications | |
| Weight (kg) | 88.5 |
| Height (mm) | 1650 |
| Material | — |
| Noise Level (dB) | — |
| Width (mm) | — |
| Folded Dimensions (mm) | — |
| Locomotion Type | wheeled |
| 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) | 2 |
| Mechanical Structure | |
| Joint Type | — |
| Joint Encoder | — |
| Joint Range of Motion | — |
| Sensors | |
| Sensors | 头部 RGB-D×1；底盘 RGB-D×2、RGB×1；单线激光雷达×1；线性麦克风×4 |
| Camera | 头部 RGB-D×1；底盘 RGB-D×2、RGB×1；RGB-D 30 Hz |
| LiDAR | Single-line LiDAR |
| IMU | — |
| Obstacle Avoidance | Multimodal perception for autonomous wheeled navigation and passage through elevators, turnstiles, and doors |
| Battery & Endurance | |
| Battery Capacity (Wh) | 720 |
| Runtime (h) | 2 |
| Charging Time (h) | — |
| Battery Voltage (V) | 48 |
| Power Supply (V) | — |
| Hot-swappable | — |
| Charging Power (W) | — |
| Charging Method | — |
| Compute Platform | |
| Onboard Compute | NVIDIA Orin AGX 64×1（275 TOPS） |
| AI Compute Module | — |
| Compute (TOPS) (TOPS) | 275 |
| Operating System | Ubuntu 22.04；ROS 1 |
| CPU Cores (核) | — |
| Safety & Environment | |
| Ingress Protection (IP) | — |
| Operating Temperature (°C) | — |
| Pinch Protection | — |
| Interaction & Communication | |
| Communication | Wi-Fi 6、Ethernet、Bluetooth；内部 CAN/EtherCAT 500 Hz–1 kHz |
| Microphone | 线性麦克风×4 |
| Speaker | — |
| Lighting | — |
| Voice Interaction | Low-latency dialogue with custom knowledge-base Q&A, interruption/continuation, and emotion-aware interaction |
| OTA Update | — |
| Development & Expansion | |
| Secondary Development (SDK) | — |
| Expansion Backplane | — |
| App Platform | — |
| Commercial Information | |
| Warranty (年) | — |