Components

Bot Landscape / Components

End-effectors & components

Dexterous hands, two-finger grippers, and teleoperation master arms have separate tables; end-effector grasp load never adds to whole-robot arm payload.

Class definition

End-effectors and components are the robot's manipulation and interface hardware, classified independently of any host arm.

Grasp load and master arms

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 / model#G1 Teleoperation Master-Slave Arm / TM01 [M5]
Host#Galbot G1 (manual title and overview) [M5]
Degrees of freedom#dual-arm 7 DoF ×2 [M5]
Dimensions (excluding tripod)#530 × 330 × 70 mm [M5]
Net mass (excluding tripod)#≈2 kg [M5]
Rated voltage#12 V [M5]
Rated power#30 W [M5]
Sampling frequency#≥100 Hz [M5]
Mapping latency#≤20 ms [M5]
Connection#USB wired [M5]
Ingress#IP20 (not waterproof) [M5]
Operating temperature#0–40 °C [M5]
Operating humidity#below 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
Envelope & mass
Mass#1100 g [M1]1100 g [M1]
Size (flat state, L × W × T)#217.3 × 127.5 × 72.1 mm [M1]217.3 × 127.5 × 72.1 mm [M1]
Vendor qualification on size#“the final shipped version may vary”; dimension is the hand in flat state [M1]“the final shipped version may vary”; dimension is the hand in flat state [M1]
Degrees of freedom
Total DoF#20 [M1]20 [M1]
Active DoF#16 [M1]16 [M1]
Coupled DoF#4 [M1]4 [M1]
Thumb DoF#4 [M1]4 [M1]
Index / middle / ring / little DoF (each)#3 [M1]3 [M1]
Replaceable fingers#5, each replaceable independently [M1]5, each replaceable independently [M1]
Joint travel (vendor ranges)
Thumb joint 0#−33.5° to 39° [M1]−33.5° to 39° [M1]
Thumb joint 1#0° to 100° [M1]0° to 100° [M1]
Thumb joint 2#0° to 110° [M1]0° to 110° [M1]
Thumb joint 3#0° to 92° [M1]0° to 92° [M1]
Four-finger knuckle 0#−22° to 22° [M1]−22° to 22° [M1]
Four-finger knuckle 1#0° to 90° [M1]0° to 90° [M1]
Four-finger knuckle 2#0° to 95° [M1]0° to 95° [M1]
Four-finger knuckle 3#0° to 81°, coupled with knuckle 2 [M1]0° to 81°, coupled with knuckle 2 [M1]
Four-finger lateral swing#±22° [M1]±22° [M1]
Actuation
Composite force-controlled joints#12 self-developed micro force-controlled composite transmission joints [M1]12 self-developed micro force-controlled composite transmission joints [M1]
Gear-transmission joints#4 micro force-controlled joint gear transmission [M1]4 micro force-controlled joint gear transmission [M1]
Grasp geometry & force
Minimum grip diameter#10 mm [M1]10 mm [M1]
Fingertip repeat positioning accuracy#±1 mm [M1]±1 mm [M1]
Fingertip strength#10 N [M1]10 N [M1]
Fingertip strength — measurement condition#vendor note: pressure when pressed by a vertical downward cylinder of 1 cm diameter; varies by scenario [M1]vendor note: pressure when pressed by a vertical downward cylinder of 1 cm diameter; varies by scenario [M1]
Grasp load (5 cm round hard object, room temperature)
Palm facing down#3.5 kg maximum [M1]3.5 kg maximum [M1]
Palm facing left#4.5 kg maximum [M1]4.5 kg maximum [M1]
Power
Working voltage#24–60 V [M1]24–60 V [M1]
Static current#0.2 A at 58 V [M1]0.2 A at 58 V [M1]
Maximum current#4 A at 58 V [M1]4 A at 58 V [M1]
Interface & software
Communication interface#USB 2.0 [M1]USB 2.0 [M1]
Communication rate#1000 Hz [M1]1000 Hz [M1]
Full packet — sender#1234 bytes [M1]1234 bytes [M1]
Full packet — receiver#1270 bytes [M1]1270 bytes [M1]
Perceptual feedback#joint mode, position, velocity, torque, temperature, voltage and current, IMU data [M1]joint mode, position, velocity, torque, temperature, voltage and current, sensor pressure value, sensor temperature value, IMU data [M1]
Control feedback#joint mode, position, velocity, torque, stiffness coefficient, damping coefficient [M1]joint mode, position, velocity, torque, stiffness coefficient, damping coefficient [M1]
Tactile sensing (1P only)
Pressure sensor groups#—12 [M1]
Pressure sensors, total#—94 [M1]
Array resolution — palm#—2 × 5 [M1]
Array resolution — finger pad#—2 × 3 per pad, × 5 [M1]
Array resolution — fingertip#—2 × 3 per tip, × 5 [M1]
Array resolution — finger root#—2 × 3 per root, × 4 [M1]
Range of perception#—10 g – 2500 g [M1]
Maximum acceptance, undamaged#—20 kg [M1]
Environment
Working temperature range#−20 to 60 °C [M1]−20 to 60 °C [M1]

Dexterous hand — Sharpa Wave

The vendor’s two unnamed SKU/mode columns stay separate.

Hand payload and Galbot G1

Hand payload (40 kg / 24 kg) is not Galbot G1 wrist-center payload (5 kg/arm). LDA-1B’s Sharpa 22-DoF hand on Galbot G1 is evaluation hardware, not a published 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
Mass#1.3 kg [M6]1.3 kg [M6]
Dimensions#208 × 90 × 50 mm [M6]208 × 90 × 50 mm [M6]
Active DoF#22 [M6]22 [M6]
Actuation#22 proprietary actuation modules [M6]22 proprietary actuation modules [M6]
Four-finger lateral swing#±20° [M6]±20° [M6]
Minimum grasp diameter#10 mm [M6]10 mm [M6]
Payload (hand, vendor)#40 kg [M6]24 kg [M6]
Grip force#150 N [M6]90 N [M6]
Fingertip force#20 N [M6]12 N [M6]
Operating speed#4 Hz [M6]2 Hz [M6]
Operating voltage#18–28 V [M6]18–28 V [M6]
Static current#0.75 A at 20 V [M6]0.75 A at 20 V [M6]
Operating temperature#0–45 °C [M6]0–45 °C [M6]
Fingertip position repeatability#±1 mm [M6]±1 mm [M6]
Rated lifetime#over 1,000,000 cycles [M6]over 1,000,000 cycles [M6]
Tactile sensor
Tactile resolution#240×240 [M6]60×60 [M6]
Spatial resolution (force, as labeled)#0.02 N [M6]0.05 N [M6]
Maximum load#50 N [M6]50 N [M6]
Force detection range#0–30 N [M6]0–30 N [M6]
Spatial resolution (length, as labeled)#1 mm [M6]2 mm [M6]
Frame rate#180 fps [M6]30 fps [M6]
Raw image output#supported [M6]not supported [M6]
Inference mode#host + on-board [M6]on-board [M6]
Sensing dimensions#6-axis force/moment Fx, Fy, Fz, Mx, My, Mz [M6]6-axis force/moment Fx, Fy, Fz, Mx, My, Mz [M6]
Tactile latency#20 ms [M6]20 ms [M6]
Interface
Host software / SDK#Sharpa Pilot; Sharpa Wave SDK [M6]Sharpa Pilot; Sharpa Wave SDK [M6]
Communication rate#500 Hz [M6]500 Hz [M6]
Interface#1000BASE-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.

Not the Galbot G1 gripper

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]; environment rows from §3.3 [M7]. Third-party class exemplar; not a Galbot onboard gripper. Gripper payload never adds to a G1 wrist-centre figure.
Metric2F-852F-140
Stroke & envelope
Stroke (gripper opening)#85 mm [M2]140 mm [M2]
Minimum object diameter (for encompassing)#43 mm [M2]90 mm [M2]
Maximum height#162.8 mm [M2]232.8 mm [M2]
Maximum width#148.6 mm [M2]202.1 mm [M2]
Mass#925 g [M2]1025 g [M2]
Force, speed & accuracy
Grasp force#20 to 235 N [M2]10 to 125 N [M2]
Finger speed#20 to 150 mm/s [M2]30 to 250 mm/s [M2]
Position repeatability#0.05 mm [M2]0.08 mm [M2]
Force repeatability#±10% [M2]±10% [M2]
Position resolution#0.4 mm [M2]0.6 mm [M2]
Resolution basis#one-bit change of a position, speed or force request on a 0–255 scale [M2]one-bit change of a position, speed or force request on a 0–255 scale [M2]
Measurement configuration#coupling GRP-CPL-062, fingertip AGC-TIP-204-085 [M2]coupling GRP-CPL-062, fingertip AGC-TIP-420-140 [M2]
Payload
Maximum payload — friction grasp#5 kg [M2]2.5 kg [M2]
Maximum payload — form-fit grasp#5 kg [M2]2.5 kg [M2]
Payload basis#derived from an actuation-force model with a user-chosen friction coefficient and safety factor; the vendor’s worked example uses Cf 0.3 and Sf 2.4, and states the value holds only when stationary [M2]derived from an actuation-force model with a user-chosen friction coefficient and safety factor; the vendor’s worked example uses Cf 0.3 and Sf 2.4, and states the value holds only when stationary [M2]
External load limits (independent of grasp force)
Force limit Fx, Fy, Fz#50 N [M2]25 N [M2]
Moment limit Mx#5 N·m [M2]5 N·m [M2]
Moment limit My#5 N·m [M2]5 N·m [M2]
Moment limit Mz#3 N·m [M2]3 N·m [M2]
Electrical
Operating supply voltage#24 V DC ±10% [M2]24 V DC ±10% [M2]
Absolute maximum supply voltage#28 V DC [M2]28 V DC [M2]
Quiescent power#< 1 W [M2]< 1 W [M2]
Peak current#1 A [M2]1 A [M2]
Coupling & fingertips
Coupling#mandatory; integrates the electronics and electrical contacts; common to both SKUs [M2]mandatory; integrates the electronics and electrical contacts; common to both SKUs [M2]
Coupling bolt patterns#ISO 9409-1-50-4-M6, 31.5-4-M5, 40-4-M6; PCD 56 (8 × M4 and 6 × M4), PCD 60 (4 × M5), PCD 63 (6 × M6); blank coupling for a custom pattern [M2]ISO 9409-1-50-4-M6, 31.5-4-M5, 40-4-M6; PCD 56 (8 × M4 and 6 × M4), PCD 60 (4 × M5), PCD 63 (6 × M6); blank coupling for a custom pattern [M2]
Standard fingertips#flat silicone AGC-TIP-204-085; grooved AGC-TIP-205-085 [M2]flat silicone AGC-TIP-420-140; grooved AGC-TIP-421-140 [M2]
Custom fingertip limits#100 mm maximum height and 100 mm maximum width from the fingertip base; same finger holder as the 140 [M2]100 mm maximum height and 100 mm maximum width from the fingertip base; same finger holder as the 85 [M2]
Environment (manual §3.3)
IP rating#IP40 [M7]IP40 [M7]
Operating temperature#−10 to 50 °C [M7]−10 to 50 °C [M7]
Storage / transit temperature#−30 to 70 °C [M7]−30 to 70 °C [M7]
Humidity (non-condensing)#20–80% RH [M7]20–80% RH [M7]
Maximum vibration (operating)#2 G [M7]2 G [M7]
Maximum vibration (storage / transit)#5 G [M7]5 G [M7]
Stated environment#free from dust, soot or fluids; corrosive, explosive liquids or gases; powerful electromagnetic interference [M7]free from dust, soot or fluids; corrosive, explosive liquids or gases; powerful electromagnetic interference [M7]

LEAP Hand — research-open kit

RSS 2023 open anthropomorphic five-finger kit, separate from Dex5 and later v2/tendon-driven variants.

DoF and kit cost

Active DoF was not extracted from the live HTML or paper abstract; the cell stays empty rather than inventing 16. Kit cost is not a robot-payload metric.

Sources: LEAP Hand project page [M8]; Shaw, Agarwal, Pathak, arXiv:2309.06440 [R2]. Retrieved 2026-08-29. Assembly time and kit cost come from the project page and are repeated in the paper.
MetricLEAP Hand
Class#Research-open five-finger hand [R2]
Fingers#Five-finger anthropomorphic [R2]
Active DoF#—
Claimed assembly time#4 hours [M8]
Claimed kit cost#2000 USD [M8]
License#—
Pinned repo#—
URDF#—

The advertised github.com/leap-hand/LEAP_Hand returned HTTP 404 on 2026-08-29. No repository pin, commit-pinned URDF, or models-page card is claimed; the sourced assembly time and cost remain.

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.