Robot landscape / Components

End-effectors & components

End-effector grasp load is a hand metric, never added to a whole-robot arm payload. A dexterous hand, a two-finger gripper, and a teleoperation master arm sit in separate tables because their load definitions differ. Sharpa Wave payload is a hand rating; it is not Galbot G1’s 5 kg wrist-center payload. LDA-1B’s BrainCo 10-DoF eval hand has no matching public datasheet here.

Class definition

End-effectors and components are the robot's manipulation and interface hardware, classified independently of any host arm. The grasp-load row states the vendor's test object and orientation; it does not become a whole-robot arm-payload cell. A teleoperation master arm is an accessory with its own mass and latency, not a gripper.

Teleoperation accessory — Galbot TM01

TM01 is the G1 teleoperation master–slave arm. It is sold as a G1 accessory, not as an S1 or ET1 product. Hardware numbers are from the TM01 manual; they do not replace G1 wrist-center payload.

Source: G1 Teleoperation Master-Slave Arm TM01 Manual v1.4.0 [M5].
MetricGalbot TM01
Product name / modelG1 Teleoperation Master-Slave Arm / TM01 [M5]
HostGalbot G1 (manual title and overview) [M5]
Degrees of freedomdual-arm 7 DoF ×2 [M5]
Dimensions (excluding tripod)530 × 330 × 70 mm [M5]
Net mass (excluding tripod)≈2 kg [M5]
Rated voltage12 V [M5]
Rated power30 W [M5]
Sampling frequency≥100 Hz [M5]
Mapping latency≤20 ms [M5]
ConnectionUSB wired [M5]
IngressIP20 (not waterproof) [M5]
Operating temperature0–40 °C [M5]
Operating humiditybelow 85% RH, non-condensing [M5]
Warranty (stated)12 months from date of sale [M5]

Dexterous hand — Unitree Dex5-1 / Dex5-1P

Explicit values repeated for both models; the 1P tactile column is populated where the base model has none. The grasp-load test pose (5 cm hard cylinder, palm orientation) is retained.

Source: Unitree Dex5-1 [M1]. Hand kg does not add to any humanoid arm-payload cell.
MetricDex5-1Dex5-1P
Mass / size1100 g; 217.3 × 127.5 × 72.1 mm [M1]1100 g; 217.3 × 127.5 × 72.1 mm [M1]
DoF20 (16 active + 4 coupled); thumb 4, others 3 [M1]20 (16 active + 4 coupled); thumb 4, others 3 [M1]
Lateral swing±22° [M1]±22° [M1]
Min grip ⌀ / tip repeat / tip force10 mm / ±1 mm / 10 N [M1]10 mm / ±1 mm / 10 N [M1]
Power24–60 V; 58 V @ 0.2 A static, 4 A max [M1]24–60 V; 58 V @ 0.2 A static, 4 A max [M1]
BusUSB 2.0, 1000 Hz; packet 1234 / 1270 B [M1]USB 2.0, 1000 Hz; packet 1234 / 1270 B + pressure + sensor temperature [M1]
Grasp load (5 cm hard cylinder, room temp)palm down 3.5 kg; palm left 4.5 kg [M1]palm down 3.5 kg; palm left 4.5 kg [M1]
Tactile—94 sensors; 10 g–2500 g; max 20 kg undamaged [M1]
Operating temperature−20 to 60 °C [M1]−20 to 60 °C [M1]

Dexterous hand — Sharpa Wave

Vendor page publishes two numeric columns without naming the SKUs or modes. Both columns are copied as printed; they are not collapsed. Hand payload (40 kg / 24 kg) is not Galbot G1 wrist-center payload (5 kg/arm). LDA-1B reports Galbot G1 evaluations that include a Sharpa 22-DoF hand; that is a research-eval fact, not a Galbot product option.

Source: Sharpa Wave product page [M6]. Two unnamed columns are labeled as published left/right. Hand kg never adds to a Galbot wrist-payload cell. LDA-1B eval note: [R1].
MetricWave (vendor left column)Wave (vendor right column)
Hardware
Mass1.3 kg [M6]1.3 kg [M6]
Dimensions208 × 90 × 50 mm [M6]208 × 90 × 50 mm [M6]
Active DoF22 [M6]22 [M6]
Actuation22 proprietary actuation modules [M6]22 proprietary actuation modules [M6]
Four-finger lateral swing±20° [M6]±20° [M6]
Minimum grasp diameter10 mm [M6]10 mm [M6]
Payload (hand, vendor)40 kg [M6]24 kg [M6]
Grip force150 N [M6]90 N [M6]
Fingertip force20 N [M6]12 N [M6]
Operating speed4 Hz [M6]2 Hz [M6]
Operating voltage18–28 V [M6]18–28 V [M6]
Static current0.75 A at 20 V [M6]0.75 A at 20 V [M6]
Operating temperature0–45 °C [M6]0–45 °C [M6]
Fingertip position repeatability±1 mm [M6]±1 mm [M6]
Rated lifetimeover 1,000,000 cycles [M6]over 1,000,000 cycles [M6]
Tactile sensor
Tactile resolution240×240 [M6]60×60 [M6]
Spatial resolution (force, as labeled)0.02 N [M6]0.05 N [M6]
Maximum load50 N [M6]50 N [M6]
Force detection range0–30 N [M6]0–30 N [M6]
Spatial resolution (length, as labeled)1 mm [M6]2 mm [M6]
Frame rate180 fps [M6]30 fps [M6]
Raw image outputsupported [M6]not supported [M6]
Inference modehost + on-board [M6]on-board [M6]
Sensing dimensions6-axis force/moment Fx, Fy, Fz, Mx, My, Mz [M6]6-axis force/moment Fx, Fy, Fz, Mx, My, Mz [M6]
Tactile latency20 ms [M6]20 ms [M6]
Interface
Host software / SDKSharpa Pilot; Sharpa Wave SDK [M6]Sharpa Pilot; Sharpa Wave SDK [M6]
Communication rate500 Hz [M6]500 Hz [M6]
Interface1000BASE-T Ethernet [M6]1000BASE-T Ethernet [M6]

Parallel / adaptive gripper — Robotiq 2F-85 / 2F-140

Specifications are measured with the standard coupling and silicone fingertips stated in the manual. This is a third-party parallel-gripper class sheet, not Galbot’s G1 onboard gripper. The inspected G1 Quick Start does not publish a standalone gripper datasheet, so no Galbot gripper column is invented here.

Source: Robotiq 2F-85 / 2F-140 Instruction Manual §6 [M2].
Metric2F-852F-140
Stroke (gripper opening)85 mm [M2]140 mm [M2]
Minimum object diameter43 mm [M2]90 mm [M2]
Grasp force20 to 235 N [M2]10 to 125 N [M2]
Finger speed20 to 150 mm/s [M2]30 to 250 mm/s [M2]
Mass925 g [M2]1025 g [M2]
Maximum height162.8 mm [M2]232.8 mm [M2]
Maximum width148.6 mm [M2]202.1 mm [M2]
Position repeatability0.05 mm [M2]0.08 mm [M2]
Force repeatability±10% [M2]±10% [M2]
Position resolution0.4 mm [M2]0.6 mm [M2]
Max payload — friction grasp5 kg [M2]2.5 kg [M2]
Max payload — form-fit grasp5 kg [M2]2.5 kg [M2]

Other component classes (no primary sheet here)

BrainCo (LDA-1B eval name only)

LDA-1B names a BrainCo 10-DoF hand on Galbot G1 evaluations. The current public BrainCo Revo 2 sheet is a different count (11 DoF / 6 active joints) and is not identified as that eval SKU, so no BrainCo product column is added. [R1]

Tool changers

Robot-side / tool-side coupling with rated payload, moment, and repeatability. No primary sheet linked here.

Force/torque & tactile sensors

Axes, range, resolution, and bus rate. No primary sheet linked here.

Actuators

Torque/speed curves, reduction, and encoder. No primary sheet linked here.

Robot compute

SoC, TOPS, memory, and interfaces. Covered per-robot on the platform pages.

Batteries & interfaces

V / Ah / Wh, charge spec, and hot-swap. Covered per-robot on the platform pages.

Engineering models

Official Unitree models relevant to the Dex5 hand. The Dex5-1 URDF is assembled live on the 3D models page; that page is publication evidence and adds no specification.