1.7 Joint Limit Description
Joint Naming Diagram
1.7.1 Arm Motion Range
Joint Name |
X2 Ultra Edition |
|---|---|
J1 (Shoulder pitch) |
-116.5° ~ +176.5° |
J2 (Shoulder roll) |
-3.5° ~ +174.5° |
J3 (Shoulder yaw) |
±146.5° |
J4 (Elbow) |
-135° ~ 0° |
J5 (Wrist yaw) |
±146.5° |
J6 (Wrist pitch) |
±33° |
J7 (Wrist roll) |
-86.5° ~ +41.5° |
1.7.2 Leg Motion Range
Joint Name |
X2 Ultra Edition |
|---|---|
J1 (Hip pitch) |
±146.5° |
J2 (Hip roll) |
-13.5° ~ +166.5° |
J3 (Hip yaw) |
-196.5° ~ +96.5° |
J4 (Knee) |
0° ~ +138° |
J5 (Ankle pitch) |
-26° ~ +46° |
J6 (Ankle roll) |
±15° |
1.7.3 Head Motion Range
Joint Name |
X2 Ultra Edition |
|---|---|
J1 (Head pitch) |
0° |
J2 (Head yaw) |
±20° |
1.7.4 Waist Motion Range
Joint Name |
X2 Ultra Edition |
|---|---|
J1 (Waist yaw) |
-196.5° ~ +126.5° |
J2 (Waist pitch) |
±18° |
J3 (Waist roll) |
±28° |