T2 Humanoid Torso: A Flexible Lower Body to Expand the Reachable Workspace
The Meka T2 Humanoid Torso is a two degree-of-freedom force controlled torso for a humanoid robot. It is design to increase the workspace of a Meka A2 bimanual manipulator system. Engineered for stability, safety, and reliability, the T2 system features high-strength force-controlled actuators, zero-backlash Harmonic Drive gearheads, integrated brake, and the Meka M3 real-time control system.
The T2 has two pitch joints that are mechanically coupled 1:1 and driven by a single actuator. This enables natural motions as the torso leans forward and increases the torso workspace while keeping the center-of-gravity close in.
Features
- Mechanically coupled hip joint
- Load cell based torque sensing and control
- Zero backlash Harmonic Drives
- Absolute encoders for calibration free operation
- Meka M3 and ROS software stacks
- EtherCAT control bus
- Compatible with the Meka A2 manipulator
| Total DOF | 3 |
|---|---|
| Actuated DOF | 2 |
| Interface | M3 EtherCAT |
| Motor Power | 24V@6A peak |
| Digital Power | 9-15V@300mA |
| Weight | 11.1 Kg |
| Payload | 40 Kg |
| Angular Resolution | .022 degree |
| Force Resolution | 15 mNm |