T1 Instruction Manual - V1.5
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T1 Instruction Manual - V1.5
T1 Instruction Manual - V1.5
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3月5日修改
中文版本：T1说明书-V1.3
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This manual is for firmware V1.5. For versions below V1.5, please visit theT1 Instruction Manual-V1.1
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V1.5.2 Update Content
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Fixed several issues related to K1
Product Overview
Booster T1 is a humanoid robot development platform designed for developers and other users, featuring lightweight, flexible, and durable.
Product Composition
The T1 robot consists of head, torso, arms, and legs, with a total of 23 DoFs, allowing for flexible movement and posture control.
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The head has 2 DoFs, including Yaw Joint and Pitch Joint. It contains a depth camera, microphone array, and speaker.
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Each arm has 4 DoFs, including Shoulder Pitch Joint, Shoulder Roll Joint, Shoulder Yaw Joint, and Elbow Joint.
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The waist has 1 DoF, which is the Waist Yaw Joint.
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Each leg has 6 DoFs, including Hip Pitch Joint, Hip Roll Joint, Hip Yaw Joint, Knee Joint, and Ankle Up and Down Joint.
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Control board and battery are installed in torso.
Product Functions
1.
Omnidirectional Walking
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Supports forward, backward, and lateral walking.
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Supports rotation and complex walking.
2.
Disturbance Resistance while Walking
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Can walk on uneven surfaces.
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Can withstand certain impact disturbances while walking.
3.
Default Agent（Booster）
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Supports predefined movements: hand waving, handshaking, self-rising, etc.
4.
Soccer Agent
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Supports track ball and chase ball, etc.
5.
Teaching Agent
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Supports arm and head teaching as well as motion editing.
6.
Dance Agent
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Supports gesture-based dance.
7.
Safety Protection
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Automatically enters damping mode in uncontrolled states to prevent damage.
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Hard emergency stop.
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1.
Stay clear of people during action execution to avoid safety risks.
2.
The 7-Dof version does not support the soccer agent, teaching agent or dance agent.
Product Specifications
Main parts
Joint motors.
Joint ID and limits.