About R1 Lite 2025
Specifications
| Mechanical Parameters | Value |
|---|---|
| Height | 1281 mm |
| Width | 596 mm (chassis); 670 mm (platform) |
| Weight | 55 kg (including battery) |
| Rated Voltage | 48 V |
| Battery | Lithium battery |
| Battery Capacity | 15Ah |
| Battery Energy | 720Wh |
| Battery Management System (BMS) | Supported |
| Performance Parameters | Value |
|---|---|
| Degrees of Freedom | 23 DOF in total for the whole body: Chassis 6 DOF Torso 3 DOF Single arm with gripper 7 DOF |
| Arm Payload | Rated: 3 kg@0.6 m Maximum: 5 kg@0.6 m |
| Vertical Operating Range | 0-1.7m |
| Functions | Torso: lift up/down / translate forward and backward Chassis: Ackermann / translation / spin |
Robot Structure
Arm
The arm is the core operating component of R1 Lite. It is mounted on the platform and used to perform a variety of fine manipulation tasks. R1 Lite is equipped with two Galaxea A1X arms and two Galaxea G1 grippers. It offers 7-DOF motion capability in total, enabling flexible grasping and manipulation. The 6 joints of the arm are equipped with high-precision, high-torque planetary motors, enabling independent variable-speed operation.
Note: The joint motors currently have no brakes. For your safety, before turning off the R1 Lite power, please hold both arms by hand to prevent them from suddenly dropping.
| Arm (without gripper) | Notes |
|---|---|
| Dimensions | Extended: 600L x 100W mm Folded: 385L x 100W mm |
| Arm DOF | 6 |
| Payload | Rated: 3 kg@0.6 m Peak: 5 kg@0.6 m |
| Weight | 4.2 kg |
| Gripper | Notes |
|---|---|
| Gripper Rated Force | 100 N |
| Gripper Range of Motion | 0 ~ 100 mm |
Platform
The platform is the mounting base for the arms and is installed on top of the torso. It provides stable support for the arms, and through its connection to the torso, achieves overall structural coordination. The platform is designed with a focus on structural strength and stability, able to withstand the various forces and torques generated by the arms during operation. It is also equipped with precise mounting interfaces to facilitate the quick installation and adjustment of the arms.
| Platform | Notes |
|---|---|
| Dimensions | 670L x 298W mm |
| Peripheral Interfaces | 2-pin aviation connector for communication 6-pin aviation connector for power supply |
Torso
The torso is the main structure of R1 Lite, connecting the platform and the chassis. It not only provides support for the arms and platform, but also houses some key electrical and control systems, making it an important part of the entire robot. The torso is designed with a focus on structural compactness and reliability, while also making reasonable use of the internal space. Through the remote controller or the host computer, the torso can be raised, lowered, and moved forward and backward to meet operating needs in different orientations.
| Platform | Notes |
|---|---|
| Waist Range of Motion (Yaw) | ± 170° |
| Hip Range of Motion (Pitch) | ± 100° |
| Knee Joint Range of Motion | W1: 0°~100° W2: -154°~145° |
| Torso Motor Torque | Rated: 108 Nm Maximum: 304 Nm |
| Soft Switch | Used to turn R1 Lite power on/off |
Chassis
The chassis is the base support structure of R1 Lite. It uses three in-house developed steering wheel modules W1, with 6 DOF in total, enabling unlimited 360° rotation and supporting translation, spin, and Ackermann motion. This design makes the robot more agile when moving and turning, allowing it to adapt to complex environments and task requirements.
Note: R1 Lite supports two power supply methods: battery power or AC power. Users can choose the robot's power supply configuration according to their actual needs.
| Chassis | Notes |
|---|---|
| Dimensions | 596L x 600W x 250H mm |
| Power Switch | Hard switch, used to turn R1 Lite power on/off. |
| Emergency Stop Switch | In an emergency or hazardous situation, press it to immediately stop all operations. |
| Battery Charging Port | Rated voltage 48V |
| AC Power Input Port | Rated voltage 110 - 220 V (optional) |
Sensors
Galaxea R1 Lite can be optionally equipped with a stereo camera on the platform and wrist cameras on the arms.
| Sensor | Notes |
|---|---|
| Camera | Platform: 1 x vision camera Wrist: 2 x monocular depth cameras |
Camera
| Specification | Platform | Wrist |
|---|---|---|
| Type | Vision camera | Monocular depth camera |
| Quantity | 1 | 2 |
| Output Resolution | 1280 x 720 @15/30/60FPS | 1280 x 720 @30FPS |
| Field of View | 126°H x 116°V | 87°H x 58°V x 95°D |
| Depth Range | - | 7cm ~ 50cm |
| Operating Temperature | 0 °C ~ +70°C | 0 ~ +85°C |
| Dimensions | 90L x 18W x 17.8H mm | 42L x 42W x 23H mm |
| Weight | 50 g | 75 g |
Computing Unit
| Unit | NUC |
|---|---|
| Base Computing Power | 14-core 2.5GHz CPU I9-12900H (Up to 5.0Ghz) |
| Power Supply | Voltage: 19 V Current: 6.32 A |
| Weight | 358 g |
| Memory Chip | 1 x LPDDR4@32G |
| Storage | 1 x SSD@1T |
| Interfaces | USB2.0: 2 USB3.0: 2 Type-C: 1 HDMI: 2 |
| Cooling System | Smart fan + all-copper heat sink |
| WiFi Module | AX 201, WIFI 6 |
| Bluetooth | BT 5.2 |