ManufacturerGhost Robotics CorporationRobot model · No. 2Spirit 40
Quadruped Robots · Research & Development
Key factQuasi-direct-drive · Current availability
Model specifications
Actuation typeQuasi-direct-drive
AvailabilityCurrent availability
Battery runtimeApprox. 120 minutes
Body lengthApprox. 550 mm
Gait-control frequency1 kHz reported in research configuration
Hip/abduction gearbox reductionApprox. 6:1
Knee gearbox reductionApprox. 12:1
Leg DOF3 DOF per leg
Leg jointsAbduction/adduction + hip + knee
Legs4
Lower leg lengthApprox. 200 mm
Maximum speedApprox. 2.0 m/s
NationalityUnited States
Payload capacityApprox. 5 kg
Primary mobilityLegged / quadrupedal
Protection ratingIP54 reported for production/commercial configuration
Robot typeQuadruped / Q-UGV
Robot-control communicationMAVLink-based architecture
Total actuated DOF12
Upper leg lengthApprox. 200 mm
WeightApprox. 12 kg
About the Spirit 40
Spirit 40 is a Ghost Robotics quadruped platform documented in academic locomotion and robot-control research. Current civilian commercial availability and supplied autonomous navigation capabilities are not verified
Typical applications: Research & Development, Security & Surveillance, Inspections, Search & Rescue Exploration, Emergency Response & Rescue, Education & Training.
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