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KANGAROO

Humanoid robot

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Model
KANGAROO
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PAL Robotics KANGAROO

PAL RoboticsHumanoid robot

KANGAROO is PAL Robotics' current legged-robot platform for dynamic locomotion, reinforcement-learning and embodied-AI research, sold in configurable variants: 1.60 m tall, 50-65 kg, with 14-40 total DOF and single-arm options of 4, 5 or 7 DOF (each with its own rated payload). Its software stack runs Ubuntu LTS with ROS 2 LTS and PAL OS, using ros2_control for actuator control (current, speed, position, impedance and optional force/torque modes) and provides URDF and MJCF robot models. PAL's own GitHub repositories (kangaroo_robot, kangaroo_simulation, kangaroo_moveit_config) default to the humble-devel branch and are officially released into the ROS 2 Humble distribution; simulation is primarily via MuJoCo (the kangaroo_simulation README names mujoco_ros2_control as 'the primary supported simulator'), and the product page additionally lists mjlab as a supported RL tool. PAL publishes an open-source RL policy library covering walking, push recovery, running, jumping, stair climbing, dance and box picking, plus open-source reinforcement learning, motion retargeting and imitation learning pipelines. A 15 Ah / 63 V (976 Wh) battery and EtherCAT 2 kHz real-time control loop round out the hardware, with mobility rated 'up to 2 m/s' on the datasheet.

EDITORIALOverview reviewed against the cited sources by WBH, .

HEIGHT
1.60 m
WEIGHT
50-65 kg
DOF
14-40 DOF
PAYLOAD
7 kg
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Last verified14 sources

DATA · 24 FIELDS

Specifications

  • Official source
  • Community measured
  • Not published
PHYSICAL
Height1.60 m1,60 m as published (comma decimal separator); 1600 mm is exact arithmetic conversion.Official source [2]
Weight50-65 kgDepends on platform configuration.Official source [2]
Degrees of freedom14-40 DOFDepends on platform configuration.Official source [2]
Leg DOF6 DOF (per leg)Official source [2]
Arm DOF4, 5 or 7 (configurable)Official source [2]
Torso DOF2 DOF (yaw and roll)Official source [2]
LocomotionBipedalOfficial source [3]
Walking speedup to 2 m/sPublished under 'Mobility'; not stated whether this is walking or running speed, or under which configuration.Official source [3]
Ingress protectionNot publishedNot published
JOINTS & ACTUATION
Max joint torqueNot publishedPAL publishes actuator/force-sensing features (custom linear actuators with integrated force sensors), not a maximum torque figure in N·m.Not published
Control loop frequency2 kHz (EtherCAT)Official source [2]
POWER
Battery976 Wh (15 Ah, 63 V)Official source [2]
Runtime~3 h autonomyDatasheet states '3 hrs autonomy' without specifying walking vs. stand-by mode (unlike TALOS, which publishes both separately).Official source [3]
Charging timeNot publishedNot published
COMPUTE & SENSING
Compute2x Intel i7 (32GB/1TB), optional NVIDIA Jetson GPU; Ubuntu LTS + ROS 2 LTSOfficial source [2]
Perception sensors4x RGB-D (D435i), IMU/AHRS 1 kHz, F/T sensors (wrist/feet)Official source [2][3]
Connectivity2x WiFi6, USB-3/USB-C, 2x Gigabit Ethernet RJ45Official source [2]
Safety / emergency-stop systemsOnboard + wireless E-stop, SIL 2 / PL d ratedOfficial source [2]
HANDS & PAYLOAD
End-effectorParallel gripper or 5-finger hand (RH8D / RH56F1-E2), quick-change flangeOfficial source [2]
Arm payload
  • 7 kg · 4-DoF arm, single/extendedArm fully extended, single arm; 4 DOF arm configuration.
  • 30 kg · 4-DoF arm, bi-manualBi-manual manipulation; 4 DOF arm configuration.
  • 5 kg · 5-DoF arm, single/extendedArm fully extended, single arm; 5 DOF arm configuration.
  • 28 kg · 5-DoF arm, bi-manualBi-manual manipulation; 5 DOF arm configuration.
  • 3 kg · 7-DoF arm, single/extendedArm fully extended, single arm; 7 DOF arm configuration.
  • 25 kg · 7-DoF arm, bi-manualBi-manual manipulation; 7 DOF arm configuration.
Official source [2]
Hand DOF
  • 1 DOF (2 fingers) · Parallel GripperSeed Robotics parallel gripper option.
  • 7 DOF (5 fingers) · RH8DSeed Robotics RH8D option, fingertip tactile pressure sensors.
  • 6 DOF (5 fingers) · RH56F1 / RH56E2Inspire Robots RH56F1-RH56E2 option, tactile sensors.
Official source [2]
AVAILABILITY & PRICE
Indicative priceNot publishedNot published
AvailabilityRequest a quoteOfficial source [2]
WarrantyNot publishedDatasheet's Support Services list includes 'Warranty extension' as an add-on, implying a base warranty exists, but no duration or terms are published.Not published

DATA · SOFTWARE & SIMULATION

PAL Robotics KANGAROO ROS 2, URDF and simulation

INTERFACESUPPORTPACKAGE / VERSIONSRC
SDKNot publishedNo separate proprietary SDK found; KANGAROO is programmed through ROS 2 / ros2_control (see the ROS 2 entry), with a documented 'ROS 2 API C++/Python'.[2]
ROS 2Officialkangaroo_robot (2.15.1/2.16.0), kangaroo_simulation (2.7.0) and kangaroo_moveit_config (2.2.2) are PAL's own GitHub repositories with humble-devel as the default (and, for kangaroo_robot, only non-fork) branch, ROS 2 Humble, bloom-released into the official ROS 2 Humble rosdistro index. No entries exist in the Jazzy (ROS 2) or Noetic (ROS 1) rosdistro indices; unlike TALOS, KANGAROO's repositories never had a ROS 1 branch, so ROS 2 Humble is the only distro it has ever officially supported.[2][5][10]
Isaac Sim / LabNot publishedNo official or community Isaac Sim/Lab package or environment found for KANGAROO in the sources checked.
MuJoCoOfficialkangaroo_simulation repository (default branch humble-devel) states MuJoCo (via mujoco_ros2_control, in the kangaroo_mujoco package) is 'the primary supported simulator', officially released as kangaroo_mujoco 2.7.0 in the ROS 2 Humble rosdistro. The product page and datasheet additionally list 'MuJoCo and mjlab' under Simulation and RL Tools; PAL also maintains a public mujoco_vendor ROS 2 vendor package and a pal_mjlab repository.[2][6][10]
GazeboNot publishedNo official Gazebo package, dependency or mention found for KANGAROO; the kangaroo_simulation README and product page name only MuJoCo/mjlab as supported simulators. Not marked 'none' because no PAL source explicitly states Gazebo is unsupported.
URDF / MJCFOfficialkangaroo_robot repository includes a kangaroo_description package (URDF); product page states the 'Robot Model' is 'URDF and MJCF Model'.[2][4]
MoveIt!Officialkangaroo_moveit_config package (v2.2.2, humble-devel) provides a MoveIt! configuration for KANGAROO, per the ROS 2 Humble rosdistro index.[7][10]
RL policy libraryOfficialPAL publishes a named RL Policies Library for KANGAROO: Walking, Push recovery, Running, Jumping, Stair climbing, Dance, Box picking; plus open-source Reinforcement Learning, Motion Retargeting and Imitation Learning pipelines and an 'AI Controller' for online policy switching.[2]
LanguagesOfficialkangaroo_robot repository: Python 96.3%, CMake 2.1%, C++ 1.6% (GitHub language statistics).[4]

Other humanoid robots with ROS 2, URDF or MuJoCo

IN SHORT

PAL Robotics KANGAROO: quick answers

How tall is the PAL Robotics KANGAROO?
1.6 m, as PAL publishes it.
How much does the PAL Robotics KANGAROO weigh?
50–65 kg, as PAL publishes it.
How many degrees of freedom does the PAL Robotics KANGAROO have?
14–40, according to PAL.
Does the PAL Robotics KANGAROO support ROS 2?
Yes: PAL publishes kangaroo_robot (2.15.1/2.16.0), kangaroo_simulation (2.7.0) and kangaroo_moveit_config (2.2.2) are PAL's own GitHub repositories with humble-devel as the default (and, for kangaroo_robot, only non-fork) branch, ROS 2 Humble, bloom-released into the official ROS 2 Humble rosdistro index. No entries exist in the Jazzy (ROS 2) or Noetic (ROS 1) rosdistro indices; unlike TALOS, KANGAROO's repositories never had a ROS 1 branch, so ROS 2 Humble is the only distro it has ever officially supported..

HARDWARE · AFFILIATE LINKS

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DATA · 14 COMPARISONS

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