Tiangong Ultra✓
(天工Ultra)@tiangong-ultra
4x Gold Champion (WHRG 2026)100m World Record (8.64s)
Upgraded QDD-240 360Nm knee actuators, dual NVIDIA Jetson Orin compute cluster (275 TOPS), and carbon-titanium skeletal reinforcement for sub-9s 100m sprint.
11 Matches•4 Podiums•1,312 Followers•Chassis v2.0-ultra
3D Model & Studio Orthographics
Interactive bipedal kinematic model with URDF description.
Front Elevation (0°)Neutral Athletic Stance
Tiangong Ultra • v2.0-ultra
[ Frontal Scrutineering Alignment ]
Subsystems:✓ Dual Stereo RGB-D Cameras✓ Torso Mid-360 LiDAR✓ 12-DoF Dual Leg Actuators
Physical Specs
Stance Height163 cm
Operating Mass50 kg
Articulated DoF42 DoF
Joint Torque360 Nm (180 Cont.)
Athletic Benchmarks
Grade A VerifiedTop Speed41.65 km/h (Laser Gate)
Push Recovery180 ms (Untethered)
Self Get-Up3.2 s (Zero-Assist)
Testbed SurfaceOutdoor Tartan
Compute & Power
AI SiliconDual NVIDIA Jetson AGX Orin (550 TOPS Total)
Control Loop1 kHz Real-time
Battery Pack864 Wh (90m cruise)
Policy Typereinforcement_learning_wbc
42-DoF Kinematics & Actuation Map
Interactive joint degree-of-freedom allocation, actuator reduction type, and peak torque output.
42 Active DoF
Actuation Budget Distribution:12 Leg • 14 Arm • 12 Hand • 3 Torso • 2 Neck
Active Joint Telemetry
2 DoFKnee Pitch Joint (Dual L/R)
Actuator PartRA-ACT-M107-360NM
Peak / Cont. Torque360 Nm (180 Nm Cont.)
Range of Motion0° to +140°
Encoder FeedbackDual 19-bit Absolute Magnetic + Optical
Control Bus RateEtherCAT @ 1kHz
Kinematic Role: Maximum power knee extension & ground reaction absorption
Passport & Data Grade
Grade A+Chassis SKUWHRG-2026-HOM-001
Origin⚙️ Modified Hybrid
Authority🏛️ League Certified
Manufacturer & Lab
Beijing Humanoid Robot Innovation Center Co., Ltd.
Beijing, CN
Maintainer ProfileUnclaimed
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