This repository contains the URDF description of the humanoid robot STAR1, developed by RobotEra, a leading company in humanoid robotics.

• The robot has a total of 55 degrees of freedom (DOF), including the following parts:

  • Legs: 6 DOF × 2 = 12 DOF
  • Arms: 7 DOF × 2 = 14 DOF
  • Hands: 12 DOF × 2 = 24 DOF
  • Waist: 3 DOF
  • Head: 2 DOF

Figure 1: Zero Position

Figure 2: Coordinate System

Figure 3: Upright Position

• When the robot is fully upright, the joint angles of the legs are as follows:

   | Joint Name | Angle (degrees) | |----------------------------|:---------------:| | left_hip_pitch_joint | 30 | | left_knee_joint | -60 | | left_ankle_pitch_joint | 30 | | right_hip_pitch_joint | 30 | | right_knee_joint | -60 | | right_ankle_pitch_joint | 30 | | Other leg joints | 0 | 

For technical support or business inquiries:

• Email: support@robotera.com
• Create an issue in this repository

RobotEra is dedicated to advancing humanoid robotics technology.We specialize in developing robust and versatile humanoid robots for real-world applications.

This project is licensed under the BSD 3-Clause License - see the LICENSE file for details.