AgiBot
AgiBot X1
TheAgiBot X1 humanoid robotis a 130 cm, 33 kg open-source platform with 34 DOF, 0.5 kg arm payload and PowerFlow servo tech; it walks at 3.6 km h-¹, runs two hours per battery and costs under US $20 000—making advanced bipedal robotics attainable for research and maker communities.
Description
The AgiBot X1, developed by AGIBOT Innovation (Shanghai) Technology Co., Ltd.—a pioneering Chinese robotics company founded in 2023 by Peng Zhihui—is a full-stack open-source humanoid robot platform designed for research, education, and maker communities. Measuring 130 cm in height and weighing just 33 kg, it achieves 34 active degrees of freedom (DoF) across 29 body joints (expandable head), enabling smooth bipedal walking at 1 m/s (3.6 km/h), dynamic balancing, and dexterous manipulation with 0.5 kg per arm payload. Its architecture emphasizes modularity, safety, and scalability, featuring a CNC-machined aluminum frame clad in a lightweight composite shell for easy servicing and human-safe operation.
At the core are PowerFlow quasi-direct-drive (QDD) servo modules: six flagship R86-3 actuators (200 N·m peak torque, 85 rpm peak speed, 1.28 kg, 48V) for hips/knees; nine R86-2 (80 N·m peak, 260 rpm no-load, 0.81 kg); ten R52 (19 N·m peak, 130 rpm, 0.45 kg); and four L28 linear actuators (110 N thrust, 50 mm/s, 200 g, 24V) for ankles. These integrate low-ratio (<10:1) planetary reducers, high-performance FOC drives, multi-turn absolute encoders, hollow wiring, and PF-Link intelligent interfaces for seamless daisy-chaining.
Real-time control is handled by lightweight Domain Controllers (DCUs, 90 g each), supporting up to 16 in cascade with 1 kHz synchronized communication (100 Mbps EtherCAT-to-triple FDCAN at 5 Mbps), hardware IMU interfaces, SPI/UART/GPIO expansion, and OTA firmware updates. An YIS320 IMU (921600 baud serial) provides lower-limb odometry. Upper-level processing is user-supplied (x86 PC or NVIDIA Jetson on Ubuntu 22.04/Linux), connected via Ethernet/FDCAN/CAN-FD/GPIO/UART, with optional RGB-D cameras.
AI integration leverages the open-source AimRT middleware for RL-based locomotion, ROS2 compatibility, and DIY LLM hooks—no bundled models, but full RL training pipelines via GitHub (legged_gym, rsl_rl, humanoid-gym on Isaac Gym). Policies train in simulation, export to PyTorch/JIT/ONNX, validate sim2sim in MuJoCo, and deploy zero-shot sim2real. Adaptive OmniPicker grippers (430 g, 30 N force, 120 mm stroke, 0.7 s cycle, CAN/RS485) enable versatile grasping with force control.
Deployment history spans from 2024 prototypes to 2025 production: kits priced under $20,000 enable lab access. AGIBOT hit 5,000 humanoid units (X-series half-size like X1) by December 2025, with factory in Shanghai Lingang. Real-world uses include university RL experiments, maker projects, logistics demos; international adoption in South Africa, Singapore engagements. Open ecosystem—CAD/STEP/SolidWorks/BOM on GitHub/Baidu/Google Drive, inference/train repos—accelerates community innovation in embodied AI, positioning X1 as an attainable benchmark for bipedal robotics.
Key Features
Full-Stack Open-Source Platform
Comprehensive open-source hardware (CAD/BOM/STEP), firmware, AimRT middleware, RL training/inference code on GitHub for full customization.
Modular PowerFlow QDD Actuators
34 DoF driven by integrated servo modules (R86-3/2, R52, L28) with FOC drives, low-backlash gears, multi-turn encoders, and PF-Link for high torque density and compliance.
Distributed Real-Time Control
DCU boards enable 1 kHz EtherCAT-FDCAN bridging, hardware sync, OTA, expandable I/O; YIS320 IMU for precise odometry.
Adaptive OmniPicker Grippers
Lightweight (430g) universal end-effectors with 30N force, 120mm stroke, feedforward control, self-locking for diverse manipulation tasks.
Scalable Compute & AI Integration
User-supplied Jetson/x86 host; ROS2/AimRT for RL locomotion (sim2real), external LLM hooks; 2-hour swappable battery runtime.
Safe, Lightweight Design
33 kg total, aluminum-composite structure fits doors, chest-height for labs; human-safe speeds and payloads.
Specifications
| Availability | Prototype |
|---|---|
| Nationality | China |
| Website | https://www.agibot.com |
| Degrees Of Freedom, Overall | 34 |
| Height [Cm] | 130 |
| Manipulation Performance | 2 |
| Navigation Performance | 2 |
| Max Speed (Km/H) | 3.6 |
| Strength [Kg] | 0.5 |
| Weight [Kg] | 33 |
| Runtime Pr Charge (Hours) | 2 |
| Safe With Humans | Yes |
| Cpu/Gpu | Open architecture – user supplies host PC/Jetson; onboard DCU real-time controllers (1 kHz, 100 Mbps) |
| Camera Resolution | Optional RGB-D camera |
| Connectivity | Ethernet, FDCAN/CAN-FD, GPIO, OTA firmware, UART |
| Operating System | Linux |
| Llm Integration | DIY: hooks for external LLMs via ROS2/AimRT; no bundled model |
| Motor Tech | PowerFlow quasi-direct-drive servo modules (R86/R52/L28 series) |
| Gear Tech | Integrated low-ratio (<10 : 1) planetary reducers inside servos |
| Main Structural Material | Aluminium, composite shell over alloy frame |
| Number Of Fingers | 4 |
| Main Market | Research & education labs, maker spaces, developer communities |
| Verified | Not verified |
| Manufacturer | AgiBot |
| Height | 130 cm |
| Weight | 33 kg |
| Dof Overall | 34 |
| Dof Body Joints | 29 |
| Max Speed | 1 m/s (3.6 km/h) |
| Arm Payload | 0.5 kg |
| Runtime | 2 hours |
| Motors | R86-3: 6x, peak torque 200 N·m, peak speed 85 rpm, rated 60 N·m @ 30 rpm, 48V, 1.28 kg, Φ86x80.7 mm, R86-2: 9x, peak 80 N·m, no-load 260 rpm, rated 20 N·m @ 70 rpm, 48V, 0.81 kg, Φ86x58.1 mm, R52: 10x, peak 19 N·m, no-load 130 rpm, rated 6 N·m @ 50 rpm, 48V, 0.45 kg, Φ52x71.6 mm, L28: 4x linear, max thrust 110 N, 50 mm/s, 24V, 200 g |
| Controllers | DCU (90 g): 1 kHz real-time, 100 Mbps EtherCAT to 3x FDCAN (5 Mbps), up to 16 cascade, IMU/SPI/UART/GPIO/OTA |
| Imu | YIS320 (921600 baud serial, lower limbs) |
| Gripper | OmniPicker: 0.43 kg, 30 N force, 120 mm stroke, 0.7 s open/close, 12-30V, CAN/CANFD/RS485 |
| Compute | User x86/Jetson, Ubuntu 22.04/Linux, Ethernet/FDCAN/UART/GPIO |
| Frameworks | AimRT (RL inference), ROS2 (LLM hooks) |
| Camera | Optional RGB-D |
| Materials | Aluminum frame, composite shell |
| Gears | Integrated planetary <10:1 ratio in servos |
| Connectivity | PF-Link, FDCAN/CAN-FD, OTA |
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