X-HUMANOID Tianyi

1. Dual-arm manipulation with adjustable working height

Tianyi 2.0 combines two seven-degree-of-freedom arms with a wheeled base and an adjustable overall height of 130–165 cm.

X-HUMANOID lists 35 degrees of freedom across the robot and a weight of 88.5 kg. The architecture supports application development involving coordinated arm movements and interaction at different working heights.

2. Perception for navigation and inspection

The sensor configuration includes a head-mounted RGB-D camera, two chassis-mounted RGB-D cameras, an RGB camera and LiDAR.

These provide inputs for navigation, object recognition and inspection applications. An NVIDIA Jetson AGX Orin computing platform supports onboard AI processing, with the required recognition functions configured for the intended task.

3. Physical interaction with site equipment

Tianyi 2.0 is designed for tasks that involve manipulating objects and operating equipment as it moves around a facility.

X-HUMANOID describes applications including button pressing, card swiping, cabinet operation and lift interaction. For each project, the relevant controls, access arrangements and operating sequence need to be validated against the actual site.

4. Remote operation and operator assistance

Remote operation through VR equipment or an operator cockpit allows a person to control the chassis and arms.

This provides a route to supervised evaluations and operator-assisted tasks. It also allows human intervention to be considered within the operating model where a task cannot be completed autonomously.

5. Software configured around the application

Tianyi 2.0 runs Ubuntu 22.04 with a ROS 2 control layer, providing a familiar software environment for robotics development and integration.

Different software modules support roles such as patrol, inspection and visitor guidance. The required modules and integration work can be scoped around the initial project, with further applications assessed as requirements develop.