Product introduction
About PND Adam
- The whole body is composed of up to 41 quasi-direct drive flexible force-controlled actuators.
- Adam Lite: 25 degrees of freedom.
- Adam Standard: 29 degrees of freedom.
- Adam SP: 41 degrees of freedom.
- Height: 1.67m, weight: 60kg.
- The legs use four quasi-direct drive force-controlled joints with the highest torque density in the industry and a 7-speed ratio and high sensitivity.
- The arms have up to 19 degrees of freedom.
- Adam Lite: 5 degrees of freedom.
- Adam Standard: 7 degrees of freedom.
- Adam SP: 19 degrees of freedom.
- The waist has 3 degrees of freedom.
- Can achieve humanoid motion control.
- Fully modular and highly reusable flexible actuators, which greatly facilitate large-scale mass production.
- Thanks to the high-torque-density actuators, the robot body can achieve a human-like body weight and height.
- Highly bionic torso configuration.
- The whole body uses the fully self-developed high-real-time communication network PND-Network, ensuring the high dynamic performance and communication reliability of the robot.
- PND-Network has better expansion performance and can add sensors such as encoders, lidars, and vision cameras all over the body.
- The robot motion controller (cerebellum) uses the latest 12th-generation Intel NUC12WSKi7 + self-developed RCU.
- The RCU contains all actuators, battery BMS, and power management of the power adapter. It is a high-performance 16-port Ethernet programmable switch with network management functions (the perception and control neural network center of the robot).
- Adam Standard/SP: The robot brain uses an NVIDIA Jetson Orin NX 16GB embedded computer for AI computing, vision processing, and upper-level decision-making.
- Adam Standard/SP: The perception sensor is equipped with an Intel Realsense D455 depth camera.
- External communication includes 5G cellular network, Wi-Fi 6, and Bluetooth 5.0, which is easy for remote real-time control and debugging.
- High-robustness self-developed WBC (whole-body dynamics control) + MPC (model prediction) control algorithm for robot dynamic balance and obstacle crossing.
- The industry's most advanced reinforcement learning motion control algorithm, imitation learning algorithm, large-scale parallel dynamics simulation and neural network training framework for realizing diversified whole-body motion control that can be truly used in actual service scenarios and adapting to complex and changeable human social scenarios.
PNDbotics Product List
| Robot Name | Adam Lite | Adam Standard | Adam SP |
|---|---|---|---|
| Whole Body Size | 1.67m | 1.67m | 1.67m |
| Whole Machine Weight | 60kg | 60kg | 62kg |
| Degrees of Freedom of the Whole Body | 25 degrees of freedom | 29 degrees of freedom | 41 degrees of freedom |
| Degrees of Freedom of One Leg | Hip joint x3 + knee joint x1 + ankle joint x2 = 6 | Hip joint x3 + knee joint x1 + ankle joint x2 = 6 | Hip joint x3 + knee joint x1 + ankle joint x2 = 6 |
| Degrees of Freedom of One Arm | Shoulder joint x3 + elbow joint x1 + forearm joint x1 = 5 | Shoulder joint x3 + elbow joint x1 + forearm joint x1 + wrist joint x2 = 7 | Shoulder joint x3 + elbow joint x1 + forearm joint x1 + wrist joint x2 + dexterous finger x6 = 13 |
| Degrees of Freedom of Waist | 3 degrees of freedom | 3 degrees of freedom | 3 degrees of freedom |
| Limit Torque of Joint Unit | Knee joint 340N·m, hip joint 340N·m, ankle joint 46N·m, arm joint 60N·m | Knee joint 340N·m, hip joint 340N·m, ankle joint 46N·m, arm joint 60N·m | Knee joint 340N·m, hip joint 340N·m, ankle joint 46N·m, arm joint 60N·m |
| Walking Speed | Maximum 1.5m/s | Maximum 1.5m/s | Maximum 1.5m/s |
| Battery | Battery capacity 1188W·h, maximum voltage 46.2V, maximum output current 25A | Battery capacity 1188W·h, maximum voltage 46.2V, maximum output current 25A | Battery capacity 1188W·h, maximum voltage 46.2V, maximum output current 25A |
| Communication Connection | Wi-Fi 6, Bluetooth 5.0, easy for remote real-time control and debugging | Wi-Fi 6, Bluetooth 5.0, easy for remote real-time control and debugging | Wi-Fi 6, Bluetooth 5.0, easy for remote real-time control and debugging |
| Control and Perception Computing Power | High-robustness self-developed WBC (whole-body dynamics control) + MPC (model prediction) control algorithm for robot dynamic balance | High-robustness self-developed WBC (whole-body dynamics control) + MPC (model prediction) control algorithm for robot dynamic balance | High-robustness self-developed WBC (whole-body dynamics control) + MPC (model prediction) control algorithm for robot dynamic balance |
| Robot Cerebellum | NUC12WSKi7 for robot motion control | NUC12WSKi7 for robot motion control | NUC12WSKi7 for robot motion control |
| Robot Brain | / | NVIDIA Jetson Orin NX 16GB embedded computer for AI computing, vision processing, and upper-level decision-making | NVIDIA Jetson Orin NX 16GB embedded computer for AI computing, vision processing, and upper-level decision-making |
| Perception Sensor Configuration | / | Intel Realsense D455 depth camera | Intel Realsense D455 depth camera |
| Head | / | ✓ | ✓ |
| Hand | Spherical hand | / | Dexterous hand |
Introduction to the Appearance of Humanoid Robots
Names of Main Components
Hardware Architecture
Robot Motion Controller
| Robot Motion Controller (Cerebellum) | |
|---|---|
| Model | NUC12WSKi7 |
| CPU | 12th Gen Inter Core i7-1260P |
| Number of Cores | 12 cores |
| Number of Threads | 16 threads |
| Maximum Turbo Frequency | 4.7GHz |
| Memory | 16G |
| Memory Type | DDR4 3200M Hz |
| Cache | 18MB |
| Storage | 128G |
| GPU | Intel® Iris® Xe Graphics |
| Maximum Dynamic Frequency of Graphics Card | 1.40 GHz |
| Intel® Deep Learning Boost | Yes |
| Intel® Adaptix™ Technology | Yes |
| Intel® Hyper-Threading Technology | Yes |
| Instruction Set | 64bit |
| Robot Perception and Decision-making (Brain) | |
|---|---|
| Model | NVIDIA Jetson Orin NX 16GB |
| AI Performance | 100 TOPS |
| GPU | Equipped with 32 Tensor Cores of 1024-core NVIDIA Ampere architecture GPU |
| CPU | 8-core Arm@Cortex-A78AE v8.2 64-bit CPU 2MB L2 + 4MB L3 |
| Video Memory | 16GB 128-bit LPDDR5 102.4 GB/s |
| Storage | 128G M.2 SSD solid-state drive |
| Video Encoding | 1x 4K60(H.265) 3x4K30(H.265) 6x 1080p60(H.265) 12x 1080p30(H.265) |
| Video Decoding | 1x8K30(H.265) 2x4K60(H.265) 4x4K30(H.265) 9x 1080p60(H.265) 18x 1080p30(H.265) |
| Camera | 2x MIPI CSI-2 22-pin Camera Connectors |
| USB | 4x USB 3.2 interfaces 1x USB Type-C interface |
| Display Interface | 1x DisplayPort |
| Network | Gigabit Ethernet |
| Other I/O | 40-pin connector (UART, SPI, I2S, I2C, PWM, GPIO) 4-pin fan connector, DC power socket |
| Specification Size | 103x90x34 mm |
Joint Number and Joint Limit
Adam Lite
| Joint Name | Actuator Model |
|---|---|
| shoulderPitch_Left/shoulderPitch_Right | PND-50-14A-50-S |
| shoulderRoll_Left/shoulderRoll_Right | PND-50-14A-50-S |
| shoulderYaw_Left/shoulderYaw_Right | PND-30-14A-50-S |
| elbow_Left/elbow_Right | PND-30-14A-50-S |
| wristYaw_Left/wristYaw_Right | PND-20-14A-50-S |
| waistRoll | PND-60-17-50-S |
| waistPitch | PND-60-17-50-S |
| waistYaw | PND-60-17-50-S |
| hipPitch_Left/hipPitch_Right | PND-130-92-7-P |
| hipRoll_Left/hipRoll_Right | PND-80-20-30-S |
| hipYaw_Left/hipYaw_Right | PND-60-17-50-S |
| kneePitch_Left/kneePitch_Right | PND-130-92-7-P |
| anklePitch_Left/anklePitch_Right | PND-50-52-30-P |
| ankleRoll_Left/ankleRoll_Right | PND-50-52-30-P |
Adam Standard
| Joint Name | Actuator Model |
|---|---|
| shoulderPitch_Left/shoulderPitch_Right | PND-50-14A-50-S |
| shoulderRoll_Left/shoulderRoll_Right | PND-50-14A-50-S |
| shoulderYaw_Left/shoulderYaw_Right | PND-30-14A-50-S |
| elbow_Left/elbow_Right | PND-30-14A-50-S |
| wristYaw_Left/wristYaw_Right | PND-20-14A-50-S |
| wristPitch_Left/wristPitch_Right | PND-20-08-50-S |
| wristRoll_Left/wristRoll_Right | PND-20-08-50-S |
| gripper_Left/gripper_Right | PND-20-08-50-S |
| waistRoll | PND-60-17-50-S |
| waistPitch | PND-60-17-50-S |
| waistYaw | PND-60-17-50-S |
| hipPitch_Left/hipPitch_Right | PND-130-92-7-P |
| hipRoll_Left/hipRoll_Right | PND-80-20-30-S |
| hipYaw_Left/hipYaw_Right | PND-60-17-50-S |
| kneePitch_Left/kneePitch_Right | PND-130-92-7-P |
| anklePitch_Left/anklePitch_Right | PND-50-52-30-P |
| ankleRoll_Left/ankleRoll_Right | PND-50-52-30-P |
Adam SP
| Joint Name | Actuator Model |
|---|---|
| shoulderPitch_Left/shoulderPitch_Right | PND-50-14A-50-S |
| shoulderRoll_Left/shoulderRoll_Right | PND-50-14A-50-S |
| shoulderYaw_Left/shoulderYaw_Right | PND-30-14A-50-S |
| elbow_Left/elbow_Right | PND-30-14A-50-S |
| wristYaw_Left/wristYaw_Right | PND-20-14A-50-S |
| wristPitch_Left/wristPitch_Right | PND-20-08-50-S |
| wristRoll_Left/wristRoll_Right | PND-20-08-50-S |
| waistRoll | PND-60-17-50-S |
| waistPitch | PND-60-17-50-S |
| waistYaw | PND-60-17-50-S |
| hipPitch_Left/hipPitch_Right | PND-130-92-7-P |
| hipRoll_Left/hipRoll_Right | PND-80-20-30-S |
| hipYaw_Left/hipYaw_Right | PND-60-17-50-S |
| kneePitch_Left/kneePitch_Right | PND-130-92-7-P |
| anklePitch_Left/anklePitch_Right | PND-50-52-30-P |
| ankleRoll_Left/ankleRoll_Right | PND-50-52-30-P |
Adam Dexterous Hand
