Galaxea R1 Hardware Guide

Disclaimer

Galaxea R1 is intended for research applications by users experienced in operating and programming research robots. This product is not designed for general consumer use in the home and does not have the necessary certifications for such purposes.

Galaxea R1 Technical Specifications

Electrical Parameters

Electrical Index	Parameters
Nominal Voltage	48 V
Rated Capacity	30 Ah
Power Supply	Lithium-ion Battery
Cooling System	Low-noise Local Air Cooling
Charger	600 W (Fully charged in 1.5 hours)

Performance Parameters

Machine Features	Values
Height	1685 mm when standing 1020 mm when folded
Depth	220 mm for chest 445 mm for chassis
Width	530 mm
Weight	70 kg with battery
Degree of Freedom	24 DOF in Total: 6 DOF for chassis, 4 DOF for torso, 14 DOF for two arms with grippers
Arm Payload	Rated 2 kg Maximum 5 kg
Arm Reach	700 mm The arm touches the ground when folded and reaches up to 2 m when standing.
Torso Movement Space	Waist: Yaw ±170° Hip: Pitch ±70° Knee: W1 (0°~125°), W2 (-170°~90°) (600 mm in height adjustment range)
Torso Motor Torque	Rated 100 NM Maximum 200 NM

Robot Structure

Head

The ZED2 3D + DEPTH Camera is attached to the robot head. It provides high-definition 3D video and neural depth perception of the environment, with a wide field of view and an electronically synchronized rolling shutter, making it an ideal choice for applications requiring precise spatial awareness and real-time 3D mapping.

Arm

Galaxea R1 features two Galaxea A1 robot arms. Each arm consists of two main links made from Acrylonitrile Butadiene Styrene (ABS), which is lightweight, rigid and durable. These links are mounted on a base inserted inside the body, and interconnected by six joints. Each joint is equipped with planetary gear motors, enabling independent variable-speed operation with high precision and torque.

In the current version of Galaxea A1, the motor does not have a brake, so cutting off the power may cause the robotic arm to drop suddenly. We will continue to improve the product to address this issue.

The arm is designed to have:

Item	Notes
Length	Deployed 775 mm Folded 449 mm
Height	Deployed 237 mm Folded 277 mm
Width	128 mm

Base

The chassis is triangular in shape and equipped with three steering wheels. The power button is on the left side of the chassis and the emergency stop button is at the rear of the chassis.

To charge the robot, please use the provided power cable and insert it into the 48V power supply port located at the bottom of the rear of the chassis.

Item	Notes
Length	555 mm
Height	313 mm
Width	572 mm
Emergency Stop Button	Used for immediate power interruption during emergencies.
Power Button	Used to turn on/off the robot
Power Supply Port	Rated voltage 48 V

Sensors

Galaxea R1 includes a number of sensors that allow it to perceive the environment.

Camera

The ZED2 3D + DEPTH Camera is attached to the robot head. By combining AI and 3D techniques, this camera can detect and track objects with spactial context. An all-aluminum enclosure with thermal control makes it robust and compensates for focal length and motion sensors biases.

Specification	Parameters
Output Resolution	2 x (2208 x 1242) @15 fps 2 x (1920 x 1080) @30 fps 2 x (1280 x 720) @60 fps 2 x (672 x 376) @100 fps
Field of View	Max. 110°(H) x 70°(V) x 120°(D)
Depth Range	0.3 m to 20 m
Depth Accuracy	< 1% up to 3 m < 5% up to 15 m
Dimension	174.9 x 29.8 x 31.9 mm
Weight	164 g

Computing Unit

Units & Sensors	Notes
Basic Computating Capability	14 Core 3.8GHz CPU
Deep Learning Computing Capability	3070 16GB Video Memory
Memory	64GB
Hard Disk	1TB SSD
Camera	Dual RGB (optional dual RGBD)
Joint Encoder	Dual Encoder
Others	WiFi, Bluetooth, HDMI

Next Step

This concludes the hardware guide for Galaxea R1. For further details, please refer to Galaxea R1 Software Guide.