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ManufacturerGhost Robotics CorporationRobot model · No. 1

Minitaur

Quadruped Robots · Research & Development

CommercialUSA

Key fact2 · Direct-drive / gearless electric motors

Model details

Model specifications

Actuated DOF per leg2

ActuationDirect-drive / gearless electric motors

AvailabilityNO — legacy/discontinued as a current Ghost Robotics commercial product

Body length / hip-to-hip lengthApprox. 0.4 m

Controller clock speed72 MHz

Heavy-use enduranceApprox. 20 minutes

Integrated sensingMotor encoders + IMU

Leg mechanismFive-bar linkage

Legs4

Main controllerSTM32F303

Maximum demonstrated inclineUp to 35°

Maximum demonstrated step heightApprox. 15 cm

Minimum demonstrated crouch clearanceApprox. 27 cm

NationalityUnited States

Payload capacityApprox. 3 kg

Payload mountingPicatinny rail system

Primary mobilityLegged / quadrupedal

Robot typeDirect-drive quadruped

Running speedApprox. 2.0 m/s

Sideways crabbing speedApprox. 0.04 m/s

Standing width / toe-to-toe widthApprox. 0.28 m

Total actuated DOF8

Turning speedApprox. 1 rad/s

Vertical jump displacementApprox. 0.48 m

WeightApprox. 5–6 kg

About the Minitaur

Lightweight direct-drive quadruped originally developed as a programmable research and autonomous-sensor platform for dynamic locomotion, rough-terrain mobility, search-and-rescue, hazardous environments and advanced gait research.

Typical applications: Research & Development, Education & Training, Search & Rescue Exploration, Emergency Response & Rescue, Inspections.

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