Kangaroo

PAL Robotics' Kangaroo represents a purpose-built bipedal humanoid designed specifically for locomotion research, evolving from prototype to commercial product after years of development. Available for purchase since August 2024, Kangaroo offers researchers a robust platform for exploring advanced walking, running, and jumping capabilities.

Standing 160 cm tall and weighing 35-40 kg depending on configuration (lite, standard, or pro variants), Kangaroo features 28 degrees of freedom with 6 DOF per leg. Each leg weighs only 12.5 kg with mass concentrated in the upper portion. A deliberate design choice that reduces moving inertia for better impact resilience and energy efficiency.

The robot's innovation lies in its actuation system: custom force-controlled linear actuators with integrated force sensors provide wide range of motion, speed, and torque at joints. A single motor handles leg extension and contraction through ball-screw modules, streamlining the mechanical structure compared to multi-actuator approaches. High-power linear electric actuators combined with serial-parallel hybrid chains position all leg actuators near the base for optimal mass distribution.

PAL's 2 kHz EtherCAT control system runs on Linux/ROS architecture with an Intel i7 processor managing balance and motion algorithms in real-time. Advanced Navigation's Orientus IMU provides 1 kHz measurement frequency for complex movements. The 2024 product version adds four RealSense D435i cameras for navigation and footstep planning. With 4-hour battery life and lightweight construction enabling highly dynamic motions, Kangaroo delivers the performance researchers need to advance bipedal locomotion science.