AGIBOT · Service robots

D1

Name: D1
Brand: AGIBOT

The D1 family comprises three quadruped robots for inspection, transport and outdoor work. D1 Max drives on wheels and walks on legs, D1 MaxPro carries up to 50 kg, and D1 Ultra folds to 145 mm high for transport.

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Slovenia and Croatia onlyPrice on request

Weight: 16 to 68kg
Payload: 5 to 50kg
Runtime: 1 to 5.5h
Speed: 3 to 6m/s

Overview

About D1

Uses

01Security patrols
02Facility inspections
03Logistics and transport
04Search and rescue, emergency response
05Research and education
06Heavy load work (D1 MaxPro)

Drive

Quadruped (legs, D1 Max with wheels on the legs)

Availability

SloveniaCroatia

The D1 family consists of quadruped robots for industrial and field work in three sizes. D1 Ultra is the compact model: dust and splash resistant, with reinforcement learning (RL) based motion that keeps it balanced on demanding terrain, and able to jump and climb stairs. Its joint motors have dual encoders, so they need no zero position calibration and are ready right after power on. D1 Max is a wheel and leg robot that switches between wheeled mode for efficient driving and legged mode for difficult terrain, with two batteries that can be swapped during operation. D1 MaxPro is the heavy load model for up to 50 kg, with fast battery swap, an optional automatic charging station and the ability to get up by itself after a fall. All models offer an SDK for further development; D1 Ultra has standard interfaces for add on modules such as LiDAR, depth cameras, RTK and 4G/5G, and D1 Ultra and D1 Max provide URDF models for simulation (the Ultra model page names Isaac Sim and MuJoCo). On D1 Ultra, the smart following function requires the user's own development. Typical uses are security patrols, inspections, research and education, logistics, search and rescue, and emergency response. The manufacturer states that all data come from laboratory tests and that actual performance depends on the environment and use.

What it can do

Capabilities.

D1 Max robot standing on a wet reflective floor in dark fog, side view

Rain, dust and cold

D1 Max is rated IP67 and works from -20 to 55 °C. It senses its surroundings with two 96 channel LiDARs with 360 degree coverage, two 8 MP cameras, GNSS RTK and two ultrasonic sensors, and computes on Orin NX. An SDK plus 3D CAD and URDF models are available for your own development.

Several wheeled D1 Max robots moving along a warehouse aisle with high shelves of cardboard boxes

Payload and range

D1 Max carries a rated 25 kg. Without load it works at least five hours and covers 29 km; at full load at least 3.5 hours and 18 km. Two hot swappable batteries shorten stops, and a charging station is included.

D1 MaxPro robot walking across a concrete loading area with a stack of boxes fixed to its back

D1 MaxPro for heavy loads

D1 MaxPro carries up to 50 kg continuously, for mounted equipment, transport and material handling. Its 2,081 Wh battery lasts 5.5 hours without load and two hours or more with 50 kg. The battery is quick to swap, and an automatic charging station is optional.

D1 MaxPro robot climbing steep industrial stairs made of perforated metal

Industrial stairs and water

D1 MaxPro climbs stairs up to 30 cm continuously, including industrial stairs with open risers, and gets back on its feet after a fall. It is rated IP67, works from -20 to 55 °C and wades through water up to 20 cm deep.

D1 Ultra robot stepping through shallow water and throwing up splashes

D1 Ultra, compact and expandable

Standing, D1 Ultra is 420 mm high, and folded 145 mm. It runs at up to 3.7 m/s, carries 5 kg, climbs slopes up to 40 degrees, jumps 35 cm and climbs stairs up to 16 cm. IP54 protection guards it against splashes, mud and sand. Its Ethernet, USB, SBUS and UART ports take a 3D radar, depth camera, RTK, 4G or image transmission module.

Wheel and stride

D1 Max has a drive wheel at the end of each leg. On level ground it drives at up to 6 m/s; on rough terrain it switches to walking and handles slopes up to 45 degrees and obstacles up to 80 cm. It turns on the spot and climbs stairs up to 25 cm continuously.

D1 · Technical data

Specifications.

Manufacturer specifications

Key specifications

Weight: 16 kgD1 Ultra41 kgD1 Max68 kgD1 MaxPro*
Standing dimensions: 630 × 360 × 420 mmD1 Ultra930 × 480 × 585 mmD1 Max1270 × 520 × 730 mmD1 MaxPro
Rated payload: On requestD1 Ultra25 kgD1 Max50 kgD1 MaxPro
Max. speed: 3.7 m/sD1 Ultra6 m/sD1 Max3 m/sD1 MaxPro
Slope: 40°D1 Ultra45°D1 Max45°D1 MaxPro
Obstacle height: On requestD1 Ultra80 cmD1 MaxOn requestD1 MaxPro
Step height: On requestD1 Ultra25 cmD1 Max30 cmD1 MaxPro
Runtime: 1 hD1 Ultra5 h without load, 3.5 h at full loadD1 Max5.5 h without load, 2 h or more with 50 kgD1 MaxPro*
Range: 6 km without load, 4 km with 5 kgD1 Ultra29 km without load, 18 km at full loadD1 Max21 km without load, 11 km at full loadD1 MaxPro
Battery: On requestD1 Ultra2 × 504.9 Wh, hot swappableD1 Max2,081 WhD1 MaxPro
Joint torque: Approx. 48 N·mD1 Ultra150 N·mD1 Max300 N·m, software limited to 180 N·mD1 MaxPro
Protection and temperature: On requestD1 UltraIP67, -20 to 55 °CD1 MaxIP67, -20 to 55 °C, water up to 20 cmD1 MaxPro
Compute unit: On requestD1 UltraNVIDIA Orin NX 16 GB, 100 to 157 TOPSD1 Max117 TOPSD1 MaxPro
Folded dimensions: 670 × 435 × 145 mmD1 UltraOn requestD1 MaxOn requestD1 MaxPro
Payload: 5 kgD1 UltraOn requestD1 MaxOn requestD1 MaxPro
Jump and stairs: Jump 35 cm, stairs up to 16 cmD1 UltraOn requestD1 MaxOn requestD1 MaxPro
Protection: IP54D1 UltraOn requestD1 MaxOn requestD1 MaxPro

Variants

D1 UltraD1 MaxD1 MaxPro

Notes on the data

* Preliminary value, not yet confirmed
The manufacturer states that all data come from laboratory tests; actual performance depends on the environment and use.
D1 MaxPro max. speed 3 m/s is a lab limit test; the product is software limited to 2 m/s.
D1 Ultra summary values for weight (16 kg) and runtime (1 h) are not yet confirmed; the datasheet lists 16 kg and 1 to 2 hours.

Full technical sheet

128 items

General13 items

Specification	D1 Ultra	D1 Max	D1 MaxPro
Robot type	Compact industrial grade quadruped robot	On request	On request
Product positioning	Compact yet powerful, industrial grade	On request	On request
Applications	Emergency rescue, security, inspection, education, entertainment	Logistics and transport, search and rescue, task execution	Heavy load work, logistics and transport, emergency rescue
Material	Aluminium alloy and high strength engineering plastic	Aluminium alloy + high strength engineering plastic	Aluminium alloy + high strength engineering plastic
Degrees of freedom	Whole machine: 12, each leg: 3	12 + 4 degrees of freedom	12 in total, 3 per leg
Motion control	Standard reinforcement learning (RL) based control	On request	On request
Drive design	On request	Wheel and leg design, switching between wheeled and legged mode	On request

Dimensions and weight9 items

Specification	D1 Ultra	D1 Max	D1 MaxPro
Standing dimensions (L × W × H)	630 mm × 360 mm × 420 mm	930 mm × 480 mm × 585 mm	1270 mm × 520 mm × 730 mm
Folded dimensions (L × W × H)	670 mm × 435 mm × 145 mm	On request	On request
Lying dimensions (L × W × H)	On request	930 mm × 630 mm × 200 mm	1360 mm × 570 mm × 300 mm
Total weight (with battery)	16 kg	41 kg	68 kg

Motion and performance21 items

Specification	D1 Ultra	D1 Max	D1 MaxPro
Max. speed	3.7 m/s	6 m/s	3 m/s (lab limit test; for safety the product is software limited to 2 m/s)
Continuous walking speed	On request	On request	0 to 1.2 m/s
Useful payload	5 kg	On request	On request
Rated payload	On request	25 kg	50 kg (continuous)
Step height for continuous stair climbing	16 cm	25 cm	30 cm (including industrial open riser stairs)
Max. climbing slope	40°	45°	45°
Climbing slope (datasheet)	30° standard, up to 40° max.	On request	On request
Jump height (forward/upward)	Up to 35 cm above the ground	On request	On request
Max. obstacle height	On request	80 cm	On request
Obstacle height with load	On request	50 cm	On request
Min. turning width	On request	Supports turning on the spot; supports adjustable crawl height when moving forward and backward	On request
Crawl height	On request	34 ± 0.5 cm	On request
Automatic self righting after a fall	On request	On request	Supported
Max. output power of the whole machine	Approx. 3,500 W	On request	On request

Joints14 items

Specification	D1 Ultra	D1 Max	D1 MaxPro
Max. joint motor torque	Approx. 48 N·m	On request	On request
Max. joint torque	On request	150 N·m	300 N·m (software limited to 180 N·m)
Max. joint motor power density	2 kW/kg	On request	On request
Joint control method	Dual encoder (no zero position calibration needed)	On request	On request
Joint range (body)	-28° to +28°	-30° to 40°	-45° to 45°
Joint range (thigh)	-170° to -66°	-160° to 160°	-200° to 20°
Joint range (shank)	+35° to +156°	-160° to 160°	30° to 160°

Battery and power18 items

Specification	D1 Ultra	D1 Max	D1 MaxPro
Battery	Nominal capacity 5 Ah; rated capacity 4.6 Ah; voltage 43.2 V	54 V, 504.9 Wh × 2, two batteries, hot swap supported	Rated capacity 45 ± 1 Ah
Charging time	Approx. 1 hour (battery level 10 % to 90 %)	< 1.5 h	Approx. 4.5 hours (from 10 % to 90 % charge)
Runtime per battery	1 to 2 hours	5 ± 0.5 h without load, 3.5 ± 0.5 h at full load	5.5 hours without load, 2 hours or more with a 50 kg load
Range	6 ± 1 km	29 ± 1 km without load, 18 ± 1 km at full load	21 ± 1 km without load; 11 ± 1 km at full load
Range with 5 kg load	4 km	On request	On request
Power outputs	On request	5 V, 12 V, 24 V, 48 V; max. output power 480 W	12 V, 24 V, 48 V; max. output power 720 W; supports direct battery charging through the port
Battery capacity	On request	On request	2,081 Wh
Battery voltage	On request	On request	48 V ± 2 V
Battery swap	On request	On request	Fast battery swap supported

Compute unit and sensors14 items

Specification	D1 Ultra	D1 Max	D1 MaxPro
Camera	1920 × 1080 pixels; DFOV 122°, HFOV 111°, VFOV 70°	On request	On request
Inertial measurement unit (IMU)	Standard	1 automotive grade IMU	1 automotive grade IMU
Total compute	On request	100 to 157 TOPS / NVIDIA Orin NX 16 GB	On request
LiDAR	On request	One 96 channel LiDAR at the front and one at the rear, 360° × 90° coverage, 120 m coverage diameter	One front 96 channel LiDAR, 360° × 90° coverage, detection range up to 120 m diameter, accuracy 1.5 cm
Cameras	On request	One FPV camera at the front and one at the rear, industrial grade, 8 MP, field of view DFOV 122°, HFOV 111°, VFOV 70°	On request
Auxiliary lighting	On request	4 lights (one on each side of the FPV cameras)	On request
Auxiliary lighting range	On request	≥ 3 m	On request
RTK module	On request	1 GNSS RTK	On request
Ultrasonic sensors	On request	One left and one right, obstacle detection up to 5 m	On request
Compute module	On request	On request	GPU 117 TOPS, ARM CPU
Wide angle cameras	On request	On request	One front and one rear, industrial grade, 2 MP, field of view DFOV 150°, HFOV 130°, VFOV 73°, 30 fps

Connectivity and development19 items

Specification	D1 Ultra	D1 Max	D1 MaxPro
Expansion interfaces	Ethernet, USB, power port, SBUS, UART	2 × Gigabit Ethernet, 2 × USB 3.0, 1 × RS232, 1 × RS485, 2 × SBUS, 1 × PPS	On request
Expansion ports (count)	Ethernet × 1, USB × 2, power port × 2, SBUS × 1, UART × 1	On request	On request
Supported expansions	3D radar, depth camera, RTK, 4G module, image transmission module, tracking module, application layer loading, etc.	On request	On request
Wireless connectivity	Wi-Fi 5.0 (2.4 GHz, transmit power 21 dBm), Bluetooth 5.0	On request	On request
Further development	Open SDK for further development and payload mounting; standardised interfaces; URDF modelling for simulation platforms such as Isaac Sim and MuJoCo	Supported; SDK available; robot model includes 3D CAD and URDF files for simulation	SDK supports the TCP and ROS communication protocols; SDK packages for x86 and ARM architectures
Target tracking	Supported	On request	On request
Standard motions	Stand, lie down, damping mode, pitch adjustment, height adjustment, horizontal turning; forward jump, upward jump, standing on two legs, backflip, waving hello, etc.	Walking on the spot, gliding, crawling and other postures; omnidirectional movement (forward/backward/sideways), turning on the spot and steering; knee joint configuration adjustment	Stand, lie down, damping, force release; stair climbing, obstacle crossing
Real time image transmission	Supported	On request	On request
Real time video transmission	On request	Supported	Supported
Connectivity	On request	Wi-Fi 5.0, Bluetooth 5.0	Wi-Fi 6.0, Bluetooth 5.2; optional 4G module
Wi-Fi band and transmit power	On request	2.4 GHz, 23 dBm	On request
Communication interfaces	On request	On request	3 × Gigabit Ethernet, 2 × USB 3.0, 1 × Fast Ethernet (100 Mb/s), serial port

Environment8 items

Specification	D1 Ultra	D1 Max	D1 MaxPro
Protection rating	IP54	IP67	IP67
Operating temperature	0 °C to 40 °C	-20 °C to 55 °C	-20 °C to 55 °C
Stable operation time under extreme conditions	200 h	On request	On request
Water depth	On request	On request	Up to 20 cm

Accessories12 items

Specification	D1 Ultra	D1 Max	D1 MaxPro
Power adapter	Standard	Standard	Standard
Charging stand	Standard	Standard	On request
Remote control	Remote control with display	Remote control with built in display	Built in display, manual emergency stop mode, max. control range 500 m
Remote control range	On request	700 to 1000 m	On request
Automatic charging station	On request	Optional	Optional
Battery charging connector	On request	On request	Standard