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ManufacturerROBOTIS Co., LtdRobot model · No. 10

THORMANG3

Humanoid Robots · Development Platform

CommercialSouth Korea

Key factPH54-100-S500-R × 11 · PH42-020-S300-R × 8

Model details

Model specifications

100 W ActuatorsPH54-100-S500-R × 11

20 W ActuatorsPH42-020-S300-R × 8

200 W ActuatorsPH54-200-S500-R × 10

ActuatorsDYNAMIXEL PRO H-Series / DYNAMIXEL-P

Arms7 DOF × 2

AvailabilityLimited / legacy platform

Battery 1LiPo 22.2 V, 22,000 mAh

Battery 2LiPo 18.5 V, 11,000 mAh

CameraLogitech C920 HD Camera × 1

CommunicationEthernet / Wi-Fi

Computer Memory8 GB DDR4 RAM

Computer Quantity2 × Intel NUC

Computer Storage128 GB M.2 SSD

Control ArchitectureDual-PC architecture: Motion PC + Perception PC

Degrees of Freedom29 DOF

Depth CameraIntel RealSense — optional

Force/Torque SensorsATI Mini58-SI-2800-120 × 2

Grippers2

Head2 DOF

Height137.5 cm

IMUMicroStrain 3DM-GX4-25 × 1

Legs6 DOF × 2

LiDARHokuyo UTM-30LX-EW — optional/installed depending on configuration

Main ComputerIntel NUC with Intel Core i5

Motion/PlanningMoveIt / PCL support

NationalitySouth Korea

Operating SystemLinux Ubuntu LTS 64-bit

Programming LanguageC++

Robot FrameworkROS

Robot TypeFull-size humanoid

SimulationGazebo

SoftwareMotor Control, Manipulation, Head Control, Walking Engine, Sensor Control

VisualizationRViz

Waist1 DOF

Weight42 kg

Wireless RouterD-Link DIR-806A

About the THORMANG3

Full-size open-platform humanoid robot designed for research, education, locomotion, manipulation, SLAM, HRI and rescue-related research.

Typical applications: Development Platform, Research & Development, Education & Training.

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