Hardware

Lumi uses the Unitree G1 as its mechanical foundation, with sensing and compute hardware designed specifically for the Lumi platform.

Height
4 ft 2 in / 1.3 m
Degrees of freedom
34
Battery
421 Wh

Mechanical

Mechanically, Lumi is based on the Unitree G1 humanoid. Lumi stands 4 ft 2 in (1.3 m) tall and has 34 degrees of freedom.

Joints

Head3 DoF
Yaw
-1.5708 rad (-90.00°) to 1.5708 rad (90.00°)
Roll
-0.52 rad (-29.79°) to 0.52 rad (29.79°)
Pitch
-0.45 rad (-25.78°) to 0.3 rad (17.19°)
Torso3 DoF
Yaw
-2.618 rad (-150.00°) to 2.618 rad (150.00°)
Roll
-0.52 rad (-29.79°) to 0.52 rad (29.79°)
Pitch
-0.52 rad (-29.79°) to 0.52 rad (29.79°)
Arms7 DoF each
Shoulder pitch
-3.0892 rad (-177.00°) to 2.6704 rad (153.00°)
Shoulder roll
Left: -1.5882 rad (-91.00°) to 2.2515 rad (129.00°) Right: -2.2515 rad (-129.00°) to 1.5882 rad (91.00°)
Shoulder yaw
-2.618 rad (-150.00°) to 2.618 rad (150.00°)
Elbow
-1.0472 rad (-60.00°) to 2.0944 rad (120.00°)
Wrist roll
-1.9722 rad (-113.00°) to 1.9722 rad (113.00°)
Wrist pitch
-1.6144 rad (-92.50°) to 1.6144 rad (92.50°)
Wrist yaw
-1.6144 rad (-92.50°) to 1.6144 rad (92.50°)
Legs6 DoF each
Hip pitch
-2.5307 rad (-145.00°) to 2.8798 rad (165.00°)
Hip roll
Left: -0.5236 rad (-30.00°) to 2.9671 rad (170.00°) Right: -2.9671 rad (-170.00°) to 0.5236 rad (30.00°)
Hip yaw
-2.7576 rad (-158.00°) to 2.7576 rad (158.00°)
Knee
-0.087267 rad (-5.00°) to 2.8798 rad (165.00°)
Ankle pitch
-0.87267 rad (-50.00°) to 0.5236 rad (30.00°)
Ankle roll
-0.2618 rad (-15.00°) to 0.2618 rad (15.00°)
Hands1 DoF each
Mechanism
Parallel grippers

Electrical

Lumi is powered by a 421 watt-hour battery.

Sensors

Cameras

SpecificationValue
Field of view98° horizontal × 75° vertical
Resolution1920 × 1200 per eye
Frame rate30 FPS
BaselineApproximately 6.7 cm

IMUs

Lumi has two IMUs: one in the pelvis and one in the chest.

Microphones

Lumi has an outward-facing eight-microphone array.

Compute

NVIDIA Jetson Thor T4000

  • 12-core Neoverse-V3AE CPU
  • 64 GiB unified memory
  • 500 GiB onboard storage
  • 2 user-facing USB 3.1 USB-C ports
  • 1 user-facing 10 Gb Ethernet port