Intro
Centaur-G1 combines a humanoid upper body with a Mecanum wheel omnidirectional mobile base, operating at heights up to 1,500 mm with a maximum working radius of 2,200 mm. Each of its two arms provides 7 degrees of freedom, for 14 arm DoF in total, with the remaining DoF allocated to the waist and head. Dual-arm repeatability is rated at ±0.1 mm, placing it on par with Elite Robots' established industrial collaborative arm product line. Each arm carries a maximum payload of 5 kg. The mobile chassis achieves positioning accuracy of ±10 mm.
The perception system is structured across three layers. The head mounts an RGB-D camera for global scene recognition and target object localisation. Wrist-mounted binocular close-range cameras provide visual guidance for near-distance precision manipulation. End-effectors integrate six-axis force/torque sensors for compliant control and force data collection during contact-rich and tight-clearance tasks. A LiDAR unit provides real-time localisation and high-precision environment mapping for autonomous navigation via SLAM. The Yuanqi Primo embodied AI model processes this multi-source sensor data to produce end-to-end execution strategies with common-sense reasoning and multi-task generalisation. For cross-domain task adaptation, the model supports rapid adaptation from few-shot human demonstration, enabling efficient deployment across new task types. A spatial intelligence model handles semantic mapping of large-scale environments and translates natural language instructions into decomposed motion plans for long-horizon task execution in dynamic, unstructured environments. The battery is rated at 48 V / 40 Ah.