Project starting up · Humanoid robotics
Humanoid RP1
We start from an open humanoid robot, Roboparty's RP1, to learn how to make it walk.
- joints: six per leg, five per arm, two at the waist
- 24
- the robot's height, at about 39 kg
- 1.35 m
- the peak torque of the 100 mm joint module
- 160 N·m
- the stated runtime, with two batteries that can be swapped while the robot is on
- 3 hours
For people who come from robotics, mechanical and electronic engineering, computer science, artificial intelligence, physics
What it is
RP1, also called Roboto-01, is a humanoid robot from the Shanghai startup Roboparty. It is used for robotics research, for developing artificial intelligence that acts in the physical world and for testing motion control. It comes in two versions: RP1 with 24 joints and RP1 Pro with 30.
It is 1.35 m tall and weighs about 39 kg, 41 for the Pro version. It runs up to 4 m/s, climbs 30 degree slopes and clears 50 mm steps: these are the manufacturer's figures.
CNX Software wrote about it on October 23, 2026. Price and delivery date are not yet confirmed by the company.
Open, but not entirely. The hardware files are under the CERN-OHL-W-2.0 license: there are assembly drawings, mechanical ones, the parts list and the files of 14 electronic boards. The UFO software can only be used non-commercially (CC BY-NC 4.0). The motor firmware is not among the published repositories. So "open" should be read with care.
Where the joints are
- 01
Legs
Six joints per leg: three at the hip, one at the knee, two at the ankle.
- 02
Arms
Five joints per arm: three at the shoulder, one at the elbow, one at the wrist. The Pro version has seven, and the hands are counted separately.
- 03
Waist and head
Two joints at the waist. The Pro version adds two joints in the head.
The numbers in the chart
| Joint | Peak torque |
|---|---|
| Hip, forward and sideways | 140 N·m |
| Knee | 140 N·m |
| Waist | 140 N·m |
| Ankle | 64 N·m |
| Hip, rotation | 55 N·m |
| Shoulder, forward | 55 N·m |
| Shoulder, sideways and rotation | 32 N·m |
| Elbow | 32 N·m |
| Wrist | 32 N·m |
Inside a joint
Each joint is a closed cylinder that holds everything: motor, gearbox, two encoders and the electronics. From the outside only the 48 V supply and the data link come in. The 100 mm module is 62 mm long: the output flange has 16 M4 holes on a 93 mm circle.
- 01
Inner-rotor motor
The copper coils stay still in the housing, the magnets spin inside. The heat is produced in the copper, close to the outer metal, and leaves from there more easily.
- 02
Two gear stages
The gearbox is a two-stage planetary gearbox. In the 100 mm module the ratio is 22: the flange makes one turn for every 22 of the motor. In the drawing each stage has a 13-tooth sun gear and a 48-tooth ring gear, which give 22.0. Roboparty does not publish the tooth counts: they are our own reconstruction.
- 03
Two encoders
A 17-bit magnetic encoder reads the rotor, a 19-bit one reads the output. With two readings the robot knows where the joint is even if the gears have a little backlash. The stated repeatability is 0.1 degrees.
- 04
The board at the bottom
A round board closes the cylinder. At the center there is a RISC-V processor, along the edge the power MOSFETs, which dump the heat into the housing. The current loop runs at 20 kHz and the robot talks to the joints over EtherCAT at 1 kHz, with CAN-FD as a backup.
| Module | Where it is | Rated torque | Peak torque | Ratio |
|---|---|---|---|---|
| RMM6562 | arms, wrists, ankles | 10 N·m | ||
| RMM8463 | shoulders and waist | 20 N·m | ||
| RMM10062 | thighs, knees and hips | 44 N·m |
To be clarified. The sources do not agree on everything. CNX Software mentions four types of modules, the ROMOMO repository documents three. The URDF file gives the waist a limit of 140 N·m, while the module datasheet puts the 87 N·m peak one at the waist. It is among the first things to sort out when reading the drawings.
The hand is separate, and optional: five fingers, 11 degrees of freedom of which 6 active, about 379 g. Here the transmission is a worm drive.
Battery and computer
The battery is dual, 10 Ah each: it is swapped while the robot is on and lasts up to 3 hours. A 480 MHz microcontroller handles motion, power-up and the emergency stop in real time.
| RP1 | RP1 Pro | |
|---|---|---|
| Joints | 24 | 30 |
| Weight | about 39 kg | about 41 kg |
| Computer | Rockchip RK3588, with a 6 TOPS NPU, 8 GB of memory | RK3588 and Allwinner A733, plus an NVIDIA Jetson Orin NX with 16 GB |
| Sensors | 6-axis IMU | 6-axis IMU and RGB camera |
The software
The software is open and for the most part ready. There is the code to bring the robot up (roboparty_deploy, based on ROS 2), there are the models for the simulators (URDF and MJCF) and the tools to teach it to move with reinforcement learning (roboparty_train, on NVIDIA Isaac Lab, with tests in MuJoCo).
The limits are written in the sources. For the 24-joint RP1, training and deployment already work together. For the Pro there are still no training tasks and no base policies. One of the policies, UFO, has not yet been tried on the real robot, and the guide to bring up the RP1 is marked as coming soon.
How we work
This is the work plan, not what we have already done.
- 1Study. The hardware files, the URDF file of the 24 joints, Roboparty's documentation.
- 2Simulate. Get the robot standing in MuJoCo and make it walk with Roboparty's software. The real robot is not needed.
- 3Understand the real robot. Decide whether to build it from the open files or wait until it can be bought: price and delivery are not yet confirmed.
- 4Something of our own. Try an idea of ours on motion control, first in simulation.
Where we are
- November 2026The project starts. We study Roboparty's open files and try the robot in simulation.
- TodayWe are looking for people: software, motion control, mechanics and electronics.
- Next stepGet the 24-joint robot standing in simulation, with Roboparty's software.
Sources
- CNX Software, RoboParty RP1 (Roboto-01), October 23, 2026.
- Roboparty, RP1 repositories, RP1_hardware (CERN-OHL-W-2.0), rp1_description (URDF and MJCF), roboparty_deploy, roboparty_train and ROMOMO, on GitHub.
- Roboparty, RP1 product page and Roboto-01 documentation, roboparty.com.
- Roboparty, ROMOMO: datasheets and drawings of the RMM6562, RMM8463 and RMM10062 modules, hardware introduction (October 2026), exploded-view video.
- Roboparty, rp1_description: URDF file rp1_24dof and 3D models of the robot, from which the point cloud is made.
Do you want to work on it?
You do not need experience and you do not need a CV. Write to us: we invite you to the next meeting, where you meet the team.