“Must” items gate the design; “should” items are targets that may move.
| ID |
Requirement |
Target |
Level |
| R1 |
Standing height |
about 1.41 m (1.20–1.30 m until 2026-10-29, when the torso and legs grew for human proportions; 1.44 m with the helmet head until 2026-11-02; decisions.md) |
must |
| R2 |
Total mass with battery |
≤35 kg target bare; ≤42 kg hard limit for the robot as it runs, hands and body shells included (history in decisions.md) |
must |
| R3 |
Hip axis to sole |
≥0.65 m (needed for 17–18 cm stairs) |
must |
| ID |
Requirement |
Target |
Level |
| R10 |
Walk on flat ground, turn in place, stop on command |
0.5 m/s walk, 0.5 rad/s turn |
must |
| R11 |
Fast walk |
1.0 m/s |
should |
| R12 |
Climb and descend stairs |
17–18 cm risers, 25 cm treads |
must |
| R13 |
Rough ground, slopes |
±10° slopes, 3 cm obstacles |
should |
| R14 |
Push recovery |
recovers from a 30 N·s push while standing |
should |
| R15 |
Fall recovery |
gets up unaided from prone and supine |
should |
| ID |
Requirement |
Target |
Level |
| R20 |
Arm payload |
1 kg per hand at full reach, 2 kg close to the body. v1 deviation: about 0.5 kg with the bought hands (the wrist pitch servo is at 75% of its rating with 0.5 kg at the fingertips, and the finger servos are small); the requirement stands for later hands; the RS10P shoulder roll holds 1 kg straight out sideways for about two minutes, 0.5 kg indefinitely (decisions 2026-11-02) |
must |
| R21 |
Hands |
open 8-DOF four-finger hands (bought kits) on a wrist pitch joint in v1; stronger hands later |
must |
| R22 |
Task learning |
fine-tune a VLA (GR00T N1.7) from teleoperation data |
should |
| ID |
Requirement |
Target |
Level |
| R30 |
Runtime |
≥1 h mixed walking and standing |
must |
| R31 |
Battery swap |
quick-release pack; onboard computer stays up during a swap |
should |
| R32 |
Bus voltage margin |
pack voltage plus regen spikes stay below the actuators’ 60 V limit |
must |
| ID |
Requirement |
Target |
Level |
| R40 |
Onboard computer |
Jetson AGX Orin 64 GB |
must |
| R41 |
Depth perception |
head-mounted depth camera usable on low-texture floors and stairs |
must |
| R42 |
IMU |
≥500 Hz gyro and accelerometer at the pelvis |
must |
| R43 |
Control rates |
50 Hz policy; 500 Hz leg motor commands; ≥250 Hz arm motor commands |
must |
| ID |
Requirement |
Target |
Level |
| R50 |
Hardware e-stop |
wired and wireless; cuts actuator power without rebooting the computer |
must |
| R51 |
Software safety |
command watchdog, joint and torque limits, fall detection with damping mode |
must |
| R52 |
Test fixtures |
gantry and harness for all early walking |
must |
| R53 |
Fall protection |
padding at likely impact points |
should |
| ID |
Requirement |
Target |
Level |
| R60 |
Fabrication |
parts fit a desktop CNC mill (about 200 × 150 mm usable) and a desktop FDM printer, or can be ordered from online machining services |
must |
| R61 |
Parts cost |
≈$14k for one robot excluding the onboard computer (≈$17.6k with it, November 2026 prices; bom/bom.xlsx) |
should |
| R62 |
Openness |
all designs, code and models in this repo under its licences; vendor CAD linked, not copied |
must |
| R63 |
Serviceability |
each actuator replaceable without disassembling more than one limb |
should |
This page is generated from docs/requirements.md in the repository.
