Intro
The AgiBot X1 stands 1,300 mm tall and weighs 33 kg with its battery. Its 34 active degrees of freedom are distributed across the full body via AgiBot's proprietary PowerFlow R series actuators, which come in three variants for different joint requirements: the PowerFlow R86-3 (peak torque 200 Nm, rated at 48 V, rated torque 60 Nm, 1.28 kg), the PowerFlow R86-2 (peak torque 80 Nm, rated torque 20 Nm, 0.81 kg), and the PowerFlow R52 (peak torque 19 Nm, rated torque 6 Nm, 0.45 kg). Each actuator features hollow wiring, a multi-turn absolute encoder, a high-integrated Field-Oriented Control (FOC) drive, and a modular PF-Link interface for daisy-chaining across joint assemblies. Linear actuation in smaller joints is provided by the PowerFlow L28 linear actuator (maximum thrust 110 N, rated at 24 V), while joint coordination is managed by the Domain Controller Unit (DCU), which supports 1 kHz real-time communication forwarding at 100 Mbps and converts EtherCAT to up to three FDCAN (5 Mbps) channels. Up to 16 DCUs can be cascaded in hardware-synchronised configurations, with IMU interface support and OTA update capability. The single arm supports a maximum payload of 0.5 kg and is compatible with the AgiBot OmniPicker adaptive gripper (maximum clamping force 30 N, stroke 120 mm, 0.7-second open and close cycle).
The X1 runs on Ubuntu 22.04 with a real-time kernel on an external x86 host PC, which functions as the primary compute platform for motion planning and AI inference. Onboard microcontrollers manage actuator control loops in real time. The AimRT open-source middleware provides a high-performance ROS2-compatible communication framework, and the REF-CLI tool enables actuator firmware configuration, diagnostics, and calibration from the host system. The battery provides approximately 2 hours of runtime at a standard walking speed of 1 m/s. Full hardware documentation, URDF models, and the open-source codebase are publicly available through the AgiBot documentation portal.