Joints

Joint Positions and Parameters

Chinese Name	English Name	Range of Motion (Right-Hand Rule)	Peak Torque
Neck Pitch	Neck Y	-20° ~ +20°	50Nm
Neck Yaw	Neck Z	-100° ~ +210°	50Nm
Shoulder Pitch	Shoulder Y	-220° ~ +90°	138Nm
Shoulder Roll	Shoulder X	-20° ~ +200° (Left Shoulder) -200° ~ +20° (Right Shoulder)	138Nm
Shoulder Yaw	Shoulder Z	-170° ~ +170°	138Nm
Elbow	Elbow	-134° ~ +10°	138Nm
Wrist Yaw	Wrist Z	-170° ~ +170°	50Nm
Wrist Roll	Wrist X	-90° ~ +90°	50Nm
Wrist Pitch	Wrist Y	-90° ~ +90°	50Nm
Waist Pitch	Waist Y	-30° ~ +90°	370Nm
Waist Roll	Waist X	-40° ~ +40°	138Nm
Waist Yaw	Waist Z	-100° ~ +210°	138Nm
Hip Pitch	Hip Y	-160° ~ +90°	370Nm
Hip Roll	Hip X	-20° ~ +150° (Left Hip) -150° ~ +20° (Right Hip)	138Nm
Hip Yaw	Hip Z	-30° ~ +210° (Left Hip) -210° ~ +30° (Right Hip)	138Nm
Knee	Knee	-10° ~ +143°	370Nm
Ankle Pitch	Ankle Y	-45° ~ +60°	50Nm
Ankle Roll	Ankle X	-35° ~ +35°	50Nm

★ Joints highlighted in green are only available on the Pro version of the robot.

Joint Coordinate Frames

Each joint coordinate frame follows the right-hand rule. Refer to the Mechanical Structure section for the zero-position reference diagram.