1. A2 Lite Overview

1. A2 Lite Overview

1.1 Component Description

1.2 Network Topology

The A2 Lite has two different hardware models, with different suppliers, so the network topology also varies. These are referred to as the T3 model and the P1 model.

You can determine which model it is by checking the network interface name using the ip a command on the actual machine.

1.2.1 T3 Model

Hardware Architecture Diagram

Software Network Topology Diagram

Where:

• The right debug network port is the debugging network port at the back of the robot, with a fixed IP address of 192.168.2.50.
• enp3s0 is the reserved network port for adding a computing platform, and it is recommended to use this port when adding a computing platform.

1.2.2 P1 Model

Hardware Architecture Diagram

Software Network Topology Diagram

Where:

• The right debug network port is the debugging network port at the back of the robot, with a fixed IP address of 192.168.2.50.
• eth_to_orin is the reserved network port for adding a computing platform, and it is recommended to use this port when adding a computing platform.

1.3 Robot Specifications

Primary Category	Secondary Category	Item	Details
Product Basic Information		Height	169cm
		Dimensions	169(H) * 75(W) * 30(L) cm
		Net Weight	≈63kg
		Active Degrees of Freedom	Dual arms 52dof, dual legs 62dof, head 1dof
Product Features	Electrical Performance	Battery Life	Whole machine force control standing battery life: 4h35min, whole machine walking battery life: 1h35min
		Battery Capacity	14.4Ah
		Charging Time	2h
		Charging Power	≤500W
		Charging Input Voltage	110V-220V
		Charger Output	54.6V 8A
	Environmental Adaptability	Operating Temperature and Humidity	0~40℃, relative humidity 10% ~ 90%, no condensation
		Storage Temperature and Humidity	-20℃~70℃, relative humidity 10% ~ 90%, no condensation
		IP Rating	Joint module: IP5X
	Site Adaptability	Minimum Passage Width	Currently, the minimum width for remote control passage >1m, navigation minimum width >2m
		Maximum Obstacle Height	20mm
		Maximum Running Slope	8% (angle 4.57 degrees)
	Operation and Interaction	Perception Capability	Not supported
		Voice Capability	Not supported
		Light Task Capability	Not supported
		Remote Control Operation	Wireless remote controller
		Speaker	5W
		Dance Development	Supported
		Group Control Software	Supported
	Mobility	Maximum Speed	Maximum speed 0.8m/s, daily use ≤0.6m/s
		Movement Modes	Supports parallel movement, diagonal movement, and in-place turning
	IoT Capabilities	Communication Protocol	TCP/IP
		Communication Module	Wifi
	Intelligent Control Parameters	Basic Computing Board	16-core high-performance CPU
	Arm Typical Parameters	Dexterous Hand	Soft artificial hand
		Single Arm Rated Load	1.5kg (excluding end effector)
		End Effector Linear Speed	1m/s
		Arm Workspace	J1(Shoulder pitch): ±170°
			J2(Shoulder roll): -30°~95°
			J3(Shoulder yaw): ±170°
			J4(Elbow pitch): -1°~118°
			J5(Wrist roll): ±170°
	Leg Typical Parameters	Leg Workspace (with some deviation)	J1(Hip roll): -37~40°
			J2(Hip yaw): ±75°
			J3(Hip pitch): -50°~110°
			J4(Knee pitch): -5°~140°
			J5(Ankle pitch): -30°~52°
			J6(Ankle roll): ±28°
	Head Typical Parameters	Head Workspace	Rotation joint: ±45°

1.4 Whole Machine Workspace