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Full-size humanoid for research and teaching, with five finger dexterous hands and open interfaces on every joint and sensor.
Overview
Legged (bipedal)
Walker Tienkung Embodied Intelligence is a full-size bipedal humanoid robot for research, education and further development. It walks with adaptive gait control, maintains balance in real time and responds to pushes and other external disturbances. According to the manufacturer, the series can stand, walk and run, and walks stably on slopes and sand. All joints and sensors have open interfaces with guides and sample code, so teams can run teleoperation, capture data and develop their own software. The manufacturer provides URDF models, open learning frameworks including AMP style reinforcement learning, and tools for learning manipulation strategies. Open embodied AI datasets with multi view RGB-D recordings, robot state, end effector state and natural language task descriptions are being released step by step. Typical uses are motion control research, multimodal interaction with vision and language models, and manipulation with both dexterous hands.
Manufacturer footage
Images and video: manufacturer materials (UBTECH).
In motion
What it can do
Walker Tienkung is a fully electric full-size humanoid designed for scientific research and education. In its most complete version it has 42 degrees of freedom: 3 in the head, 7 in each arm, 6 in each hand, 1 in the waist and 6 in each leg.
The robot stands, walks and runs, and stays stable on slopes and sand. Its gait is based on motion control learned through reinforcement learning, and the manufacturer describes how to train and deploy your own gaits.
Powered joints and a precise inertial measurement unit let it respond to external disturbances in real time and keep its posture. Dynamic balance is one of the main features the manufacturer lists for the platform.
All joints and sensors have open interfaces for teleoperation, data capture and your own development. The manufacturer provides development material with guides and code samples, accurate URDF models and open source learning frameworks.
A dual battery system with fast swapping gives more than 3.5 hours of continuous operation. With its voice module and a large language model it accepts spoken commands, and onboard computing reaches up to 550 TOPS.
In the Embodied Intelligence version, five finger dexterous hands are standard equipment, and a six-axis force sensor can be mounted on each wrist. The manufacturer publishes an imitation learning grasping example for them. The film shows a hand picking up blocks and placing them in a basket.
Walker Tienkung · Technical data
Variants
| Specification | Embodied Intelligence (TK2301) |
|---|---|
| Model | Walker Tienkung Embodied Intelligence (TK2301) |
| Colour | Metallic grey + black |
| Materials | Aluminium alloy + engineering plastic |
| System openness | Open interfaces for whole body motor control, sensors and API |
| OTA updates | Supported |
| Specification | Embodied Intelligence (TK2301) |
|---|---|
| Height | 1730 ± 10 mm |
| Height (product page) | 172 cm |
| Arm span | 600 mm |
| Net weight | 75 kg |
| Total weight (product page) | Approx. 73 kg |
| Specification | Embodied Intelligence (TK2301) |
|---|---|
| Total degrees of freedom | 42 integrated joints (head 3; arms 7 × 2; hands 6 × 2; waist 1; legs 6 × 2), each combining motor, reducer and encoder |
| Total degrees of freedom (product page) | 42 |
| Head (neck) degrees of freedom | 3 |
| Arms | Arms with 7 degrees of freedom × 2 |
| Degrees of freedom per arm | 7 (shoulder × 3 + elbow × 1 + wrist × 3) |
| Degrees of freedom per leg | 6 (hip × 3 + knee × 1 + ankle × 2) |
| Waist degrees of freedom | 1 |
| Hands | Five finger dexterous hand with 6 degrees of freedom × 2 |
| Dexterous hands | Standard equipment |
| Specification | Embodied Intelligence (TK2301) |
|---|---|
| Movement speed | 7 km/h |
| Max. joint torque | 300 N.m |
| Joint gain range (all joints) | Kp 0 to 2000, Kd 0 to 300 |
| Head, side tilt (ID 1) | -26° to +26°; 2.16 Nm/A; max. 64 rpm; rated 3 Nm; max. 9 Nm |
| Head, forward and backward tilt (ID 2) | -25° to +25°; 2.16 Nm/A; max. 64 rpm; rated 3 Nm; max. 9 Nm |
| Head, rotation (ID 3) | -90° to +90°; 2.16 Nm/A; max. 64 rpm; rated 3 Nm; max. 9 Nm |
| Waist, rotation (ID 31) | -170° to +170°; 3.207 Nm/A; max. 88 rpm; rated 35 Nm; max. 91 Nm |
| Shoulder, pitch (ID 11 / 21) | -170° to +170°; 3.207 Nm/A; max. 88 rpm; rated 35 Nm; max. 91 Nm |
| Shoulder, abduction (left ID 12 / right ID 22) | Left -15° to +150°, right -150° to +15°; 3.37 Nm/A; max. 120 rpm; rated 20 Nm; max. 60 Nm |
| Shoulder, rotation (ID 13 / 23) | -170° to +170°; 2.43 Nm/A; max. 73 rpm; rated 10 Nm; max. 30 Nm |
| Elbow, pitch (ID 14 / 24) | -150° to +15°; 2.43 Nm/A; max. 73 rpm; rated 10 Nm; max. 30 Nm |
| Wrist, rotation (ID 15 / 25) | -170° to +170°; 1.71 Nm/A; max. 146 rpm; rated 5 Nm; max. 15 Nm |
| Wrist, pitch (ID 16 / 26) | -45° to +60°; 2.16 Nm/A; max. 72 rpm; rated 3 Nm; max. 9 Nm |
| Wrist, abduction (left ID 17 / right ID 27) | Left -95° to +75°, right -75° to +95°; 2.16 Nm/A; max. 72 rpm; rated 3 Nm; max. 9 Nm |
| Hip, abduction (ID 51 / 61) | -45° to +45°; 2.3 Nm/A; max. 125 rpm; max. 124 Nm |
| Hip, pitch (ID 52 / 62) | -160° to +120°; 2 Nm/A; max. 125 rpm; max. 300 Nm |
| Hip, rotation (ID 53 / 63) | -60° to +60°; 2.3 Nm/A; max. 125 rpm; max. 124 Nm |
| Knee, pitch (ID 54 / 64) | 0° to +137°; 2 Nm/A; max. 125 rpm; max. 300 Nm |
| Ankle, pitch (ID 55 / 65) | -70° to +30°; 2.6 Nm/A; max. 128 rpm; max. 36 Nm |
| Ankle, abduction (ID 56 / 66) | -30° to +30°; 2.6 Nm/A; max. 128 rpm; max. 36 Nm |
| Specification | Embodied Intelligence (TK2301) |
|---|---|
| Little, ring, middle and index finger range | +19° to +176.7° |
| Thumb flexion range | -13° to +53.6° |
| Thumb rotation range | +90° to +165° |
| Specification | Embodied Intelligence (TK2301) |
|---|---|
| Main battery | Ternary lithium; 30 Ah + 3 Ah; 48 V |
| Charging time | Less than 4 h |
| Runtime | More than 3.5 h |
| Runtime (product page) | 3 h |
| Battery system | Dual battery system with fast swap |
| Specification | Embodied Intelligence (TK2301) |
|---|---|
| Motion control compute unit | Intel x86 i7-1355U; 10 cores, 12 threads; up to 5 GHz; 16 GB RAM; 256 GB SSD |
| Development compute unit | Orin AGX 64 × 2; 275 TOPS × 2 |
| Perception compute unit (product page) | NVIDIA Jetson AGX Orin × 2; 550 TOPS |
| Operating system and middleware | Ubuntu 22.04.4 LTS; ROS |
| Middleware (product page) | ROS2 |
| Inertial measurement unit (IMU) | High precision IMU |
| Force sensors | 6-axis force/torque sensor × 2 |
| Cameras | RGB-D on the head × 1, RGB-D on the waist × 1, RGB-D on the back × 1 |
| Voice module | Linear 4 microphone array; speaker × 1; sound card × 1; 720p RGB monocular camera × 1 |
|---|
| External communication | Wi-Fi 6, Ethernet, Bluetooth |
|---|---|
| Internal communication bus | CAN/EtherCAT for the whole body; leg control ≥ 1 kHz; arm control 400 Hz (max.) |
| Max. control frequency (product page) | 1000 Hz |
Walker Tienkung · Images
Buy and rent
Price on request. Sales across the EU, on inquiry. Available in Slovenia, Croatia, Serbia, Bosnia and Herzegovina and North Macedonia. Other countries: on request.
Price on request. You receive a written offer with contract terms, prepared for your configuration, software and service.
Rental is offered in Slovenia for Walker S2 and Cruzr S2. This model cannot be rented: see it at a live demo or request an offer.
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