TIAGo Pro hardware overview¶

TIAGo Pro specifications overview¶

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Dimensions¶
Height	120 - 150 cm
Weight	95 Kg
Base footprint	50 x 72 cm

Degrees of freedom¶
Mobile base	3
Torso lift	1
Arm	4
Wrist	3
Head	2
PAL Pro gripper	1

Mobile base¶
Drive system	Omnidirectional
Omnidirectional Drive	4x Meccanum Wheels
Max speed	1 m/s
Operational environment	Indoor

Torso¶
Lift stroke	35 cm
Left panel	2x USB 3 / 1x HDMI
Right panel	2x Ethernet / 1x Battery power / 1x 12V 5A Power

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Head¶
RGB-D camera	Intel RealSense D435
Speaker	8W Stereo
Microphone	reSpeaker 4x Microphone array

Arm¶
Payload	3 Kg
Reach	96 cm
Actuation	Series Elastic Actuators (SEA)
Arm Mounting flange	ISO 9409-1

Connectivity¶
Wi-Fi	802.11ax Wi-Fi 6
Bluetooth	Smart 4.0
Ethernet	1 KHz

Electrical features¶
Battery	2 x 36 V, 20 Ah
Battery autonomy	8-10 hours

Sensors¶
Base	2 x Laser range-finder, IMU
Arm	Motors current and torque feedback
Wrist	Force/Torque
Head	RGB-D camera, Microphone array

Mobile base¶

TIAGo Pro includes an omnidirectional drive system.

Omnidirectional mobile base

SEA Arms¶

A detailed description of the arms of TIAGo Pro is provided in the following sections:

See also¶