STAR1 Robot URDF Description

This repository contains the URDF description of the humanoid robot STAR1, developed by RobotEra, a leading company in humanoid robotics.

Overview

• The robot has a total of 55 degrees of freedom (DOF), including the following parts:

  • Legs: 6 DOF × 2 = 12 DOF
  • Arms: 7 DOF × 2 = 14 DOF
  • Hands: 12 DOF × 2 = 24 DOF
  • Waist: 3 DOF
  • Head: 2 DOF

Figure 1: Zero Position

Figure 2: Coordinate System

Figure 3: Upright Position

• When the robot is fully upright, the joint angles of the legs are as follows:

      | Joint Name                 | Angle (degrees) |
      |----------------------------|:---------------:|
      | left_hip_pitch_joint       |        30       |
      | left_knee_joint            |       -60       |
      | left_ankle_pitch_joint     |        30       |
      | right_hip_pitch_joint      |        30       |
      | right_knee_joint           |       -60       |
      | right_ankle_pitch_joint    |        30       |
      | Other leg joints           |         0       |
  

Support & Contact

For technical support or business inquiries:

• Email: [email protected]
• Create an issue in this repository

About RobotEra

RobotEra is dedicated to advancing humanoid robotics technology.We specialize in developing robust and versatile humanoid robots for real-world applications.

License

This project is licensed under the BSD 3-Clause License - see the LICENSE file for details.