1.2 Robot Specifications

The AgiBot X2 Series is equipped with a comprehensive set of hardware and system resources, including the mechanical structure, sensor systems, communication interfaces, computing units, and power systems. With this highly integrated architecture, the AgiBot X2 enables complex whole-body motion control, intelligent perception and environmental interaction, and supports advanced secondary development through AimDK.

1.2.1 X2 Series Parameters

Category	Item	X2 Ultra	X2 Ultra(new version)	X2 EDU
Overall	Dimensions	1310(H) × 460(W) × 210(L) mm	1310(H) × 460(W) × 210(L) mm	1310(H) × 460(W) × 210(L) mm
	Height	about 1.31 m	about 1.31 m	about 1.31 m
	Weight	about 39 kg	about 39 kg	about 33 kg
	Total Actuated DoF	30	31	29
	Neck DoF	1	2	0
	Single-arm DoF	7	7	7
	Waist DoF	3	3	3
	Single-leg DoF	6	6	6
	Arm span (without end-effector)	558 mm	558 mm	558 mm
	Operating temperature	-10℃ ~ 40℃	-10℃ ~ 40℃	-10℃ ~ 40℃
Perception System	RGB camera	Interactive RGB camera, front stereo RGB cameras, rear RGB camera	Interactive RGB camera, front stereo RGB cameras, rear RGB camera	N/A
	Head touch sensor	Included	Included	N/A
	RGB-D camera	Included	Included	N/A
	3D LiDAR	Included	Included	N/A
Communication	Communication method	WiFi, Bluetooth, 4G/5G module	WiFi, Bluetooth, 4G/5G module	WiFi, Bluetooth
	UWB Module	Not available	Included	Not available
Interaction Modules	Voice	Microphone array, mini wireless microphone, speakers	Microphone array, mini wireless microphone, speakers	N/A
	Display	Interactive screen, lighting effects	Interactive screen, lighting effects	N/A
Performance Parameters	Peak joint torque	120 N·m	120 N·m	120 N·m
	Speed	Max speed 1.8 m/s; daily use ≤ 0.8 m/s	Max speed 1.8 m/s; daily use ≤ 0.8 m/s	Max speed 1.8 m/s; daily use ≤ 0.8 m/s
	Payload	Max payload (specific posture): 3 kg (without end-effector) Full workspace payload: ≤ 1 kg (without end-effector)	Max payload (specific posture): 3 kg (without end-effector) Full workspace payload: ≤ 1 kg (without end-effector)	Max payload (specific posture): 3 kg (without end-effector) Full workspace payload: ≤ 1 kg (without end-effector)
Power System	Battery capacity	about 421 Wh	about 421 Wh	about 421 Wh
	Battery life	Continuous walking at 0.5 m/s for about 2 hours	Continuous walking at 0.5 m/s for about 2 hours	Continuous walking at 0.5 m/s for about 2 hours
	Charging method	Supports direct charging, battery swapping, and optional automatic charging	Supports direct charging, battery swapping, and optional automatic charging	Supports direct charging and battery swapping
	Charging time	≤ 1.5 h	≤ 1.5 h	≤ 1.5 h
	Charging input voltage	100 ~ 220 V	100 ~ 220 V	100 ~ 220 V
	Charger output	54.6 V 10 A	54.6 V 10 A	54.6 V 10 A
Intelligent Control Parameters	Base computing board	RK3588s + RK3588	RK3588s + RK3588	RK3588
	High-performance board / Secondary development board	Orin NX 16GB 157 TOPS	Orin NX 16GB 157 TOPS	N/A
Hardware Interfaces	USB Host	USB Type-A × 2, USB Type-C × 2 (1 each on Orin NX and RK3588)	USB Type-C × 3 (Orin NX × 2, RK3588 × 1)	USB Type-C × 1 (RK3588)
	Ethernet	RJ45 × 2	RJ45 × 2	RJ45 × 1
	Power interface	12V/3A × 1, 48V/5A × 1	12V/3A × 1, 48V/5A × 1	12V/3A × 1, 48V/5A × 1
Others	Smart OTA updates	Included	Included	Not available
	Handheld controller	Included	Included	Included
	Mobile app	Included	Included	Included
	LinkCraft platform	Included	Included	Not available
	Secondary development	Included	Included	Included (motion control only)

Note

Differences of the X2 Ultra(new version) compared with the Ultra Edition (all other specifications are identical):

1. The neck goes from 1 DoF to 2 (pitch added), raising the whole-body active DoF from 30 to 31.

2. A UWB module is added.

3. USB ports are unified to 3 × Type-C (all Type-A removed); the Ultra Edition has Type-A × 2 + Type-C × 2, 4 in total.

4. On the X2 Ultra(new version), the waist yaw J1 upper limit changes from +126.5° to +121.0°; the head yaw upper and lower limits change from +20° / -20° to +28° / -28°; a head pitch range is added, with an upper limit of +23° and a lower limit of -28°; the hip pitch J1 range changes from ±146.5° to -155° ~ +146.5° for the left leg and -146.5° ~ +155° for the right leg. All other joint ranges are unchanged.