5. Basic Parameter Information

5.1 Hardware Basic Parameters

Product Name	Walker Tienkung·Embodied Intelligence	Walker Tienkung·Voice & Vision	Walker Tienkung
Product Model	TK2301	TK2201	TK2101
Product Height	1730±10mm	1730±10mm	1730±10mm
Arm Span	600mm	535mm	535mm
Product Weight	74kg	64kg	64kg
Product Color	Metallic Gray + Black	Metallic Gray + Black	Metallic Gray + Black
Product Material	Aluminum alloy + Engineering plastic	Aluminum alloy + Engineering plastic	Aluminum alloy + Engineering plastic
Degrees of Freedom	42 integrated joints (head 3, arms 7×2, hands 6×2, waist 1, legs 6×2); joints feature integrated design with motor, reducer, encoder in compact unit	21 integrated joints (arms 4×2, waist 1, legs 6×2); joints feature integrated design with motor, reducer, encoder in compact unit	20 integrated joints (arms 4×2, legs 6×2); joints feature integrated design with motor, reducer, encoder in compact unit
Main Battery	Type: Ternary lithium; Capacity: 30Ah+3Ah; Voltage: 48V	Type: Ternary lithium; Capacity: 30Ah+3Ah; Voltage: 48V	Type: Ternary lithium; Capacity: 30Ah+3Ah; Voltage: 48V
Charging Time	<4 hours	<4 hours	<4 hours
Endurance Time	>3.5 hours	>3.5 hours	>3.5 hours
High-precision IMU	Yes	Yes	Yes
High-precision Six-axis Force	Yes	/	/
Camera	Head RGBD×1, Waist RGBD×1, Back RGBD×1	Head RGBD×1, Waist RGBD×1, Back RGBD×1	/
Voice Module	MIC array: Linear MIC×4; Speaker×1; Sound card×1; 720P RGB single camera×1	MIC array: Linear MIC×4; Speaker×1; Sound card×1; 720P RGB single camera×1	/
Motion Control Unit	Model: Intel x86 i7-1355U; 10-core 12-thread CPU; up to 5GHz frequency; Memory: 16GB; SSD: 256GB	Model: Intel x86 i7-1355U; 10-core 12-thread CPU; up to 5GHz frequency; Memory: 16GB; SSD: 256GB	Model: Intel x86 i7-1355U; 10-core 12-thread CPU; up to 5GHz frequency; Memory: 16GB; SSD: 256GB
Development Computing Unit	Model: Orin AGX 64 ×2 Computing power: 275 TOPS ×2	Model: Orin AGX 64 ×1 Computing power: 275 TOPS ×1	/
System/Software	OS: Ubuntu22.04.4 LTS; Middleware: ROS	OS: Ubuntu22.04.4 LTS; Middleware: ROS	OS: Ubuntu22.04.4 LTS; Middleware: ROS
Mechanical Arm	7-DOF arm×2	4-DOF arm×2	4-DOF arm×2
Dexterous Hand	Standard	/	/
External Communication	WIFI6, Ethernet, Bluetooth	WIFI6, Ethernet, Bluetooth	WIFI6, Ethernet, Bluetooth
Internal Communication Network	Full-body CAN/EtherCAT bus communication Leg control rate: ≥1KHz Arm control rate: >400Hz	Full-body CAN/EtherCAT bus communication Leg control rate: ≥1KHz Arm control rate: >400Hz	Full-body CAN/EtherCAT bus communication Leg control rate: ≥1KHz Arm control rate: >400Hz

5.2 Status Light Description

The Walker Tienkung has status lights on the chest and abdomen area on the front, which together form a status indication system. Users can understand the current operating status of the robot through combined light effects.

Meaning	Overall Status Light	Battery Status Light	Sound Description
Power on	White-Rainbow-Blue-green (slow breathing)	Blue-green (follows battery)	Accompanied by 1 prompt sound
Service waiting	Blue-green (slow breathing)	Blue-green (follows battery)	Accompanied by 1 prompt sound
Start self-check (press A)	Rainbow	Blue-green (follows battery)	1 key sound
Self-check in progress	Blue-green (rapid breathing)	Blue-green (follows battery)	Sound continues until check succeeds
Self-check successful	Blue-green (solid)	Blue-green (follows battery)
Self-check failed	Red (flashing)	Blue-green (follows battery)
Power off	Blue-green (off)	Blue-green (off)
Charging while on	Blue-green (solid)	White (breathing)
Charging complete	Blue-green (solid)	Green (solid)
Battery 30-100%	Blue-green (solid)	Blue-green (follows battery)
Battery 10-30%	Blue-green (solid)	Orange (solid)
Battery ≤10%	Blue-green (solid)	Orange (flashing)	Beep-beep every 5 seconds, 0.3s apart (light also flashes every 5s)
Small battery supply	Blue-green (solid)	Purple (solid)	Beepbeepbeep three sounds every 5 seconds, 1s apart
Running	Blue-green (solid)	Blue-green (follows battery)
Static fault	Red (flashing)	Blue-green (follows battery)
Dynamic fault	Red (flashing)	Blue-green (follows battery)	Fault sound every 2 seconds
Alarm	Yellow (flashing)	Blue-green (follows battery)

The power button indicator on the back abdomen also changes with status.

Meaning	Current Operation	Indicator
Power on	Toggle main power to "ON" position	Blue
	Short press power button after setting to "ON"	Green
Power off	Long press power button for 6 seconds	Blue
	Long press for 6s, then toggle main power to "OFF"	Off
Emergency stop	After pressing emergency stop button	Red