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ManufacturerGuangzhou High Torque Technology Co., Ltd.Robot model · No. 2

Mini Pi

Mini Humanoid · Research & Development

CommercialChina

Key factmanufacturer documentation varies by revision · Yes

Model details

Model specifications

Arms/upper-limb configurationmanufacturer documentation varies by revision

Autonomous soccerYes

AvailabilityCommercially available / mass produced

BackflipYes

Battery capacityNot publicly available for the current revision

Charging timeNot publicly available

CommunicationCAN-FD

Current height75.6 cm on the current main product page

Current main-page weight15 kg

Current weightapproximately 13.84–15 kg

Degrees of freedom23 DOF base / 27 DOF configured version

Detailed hardware-document heightapproximately 75 cm

Detailed hardware-document weight13.84 kg

Fall recoveryYes

Gazebo compatibilityReported in High Torque/RoboCup technical material

Grippers4 DOF on the high-spec configuration

Head2 DOF

IP ratingNot publicly available

Joint responseapproximately <1 ms per CAN-FD channel, manufacturer specification

JumpingYes

Legs12 DOF

Main architecture7 independent CAN-FD channels

Maximum speedNot publicly available for the current 75.6 cm generation

Maximum theoretical CAN-FD motor capacityup to 70 motors at 1 kHz, manufacturer specification

MPCSupported

NationalityChinese

Onboard perception closed loopDemonstrated

ONNX policy deploymentSupported

Optional depth camerasIntel RealSense D435i / ZED Mini documented in platform material

Peak joint torque21 N·m

ProgrammingPython + C++

Reinforcement learningSupported

Robot typeCompact bipedal humanoid

Rolling-obstacle crossingDemonstrated

ROSROS 1 + ROS 2

Runtimeapproximately 1–2 hours

SDKYes

Sim-to-realYes

SimulationNVIDIA Isaac Lab

TeleoperationYes

Terrain traversalYes

URDFPublished

Visual perceptionYes, configured platform

Voice controlSupported

Waist1 DOF

Whole-body controlSupported

ZMPSupported

About the Mini Pi

Compact open humanoid research platform designed for autonomous locomotion, whole-body learning, perception and sim-to-real robotics development, with demonstrated autonomous soccer, terrain traversal and fall recovery.

Typical applications: Research & Development, Education & Training.

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