| Product name | Walker Tienkung · Embodied Intelligence | Walker Tienkung · Voice & Vision | Walker Tienkung |
| Product model | TK2301 | TK2201 | TK2101 |
| Product height | 1730 ± 10 mm | 1730 ± 10 mm | 1730 ± 10 mm |
| Arm span | 600 mm | 535 mm | 535 mm |
| Net weight | 75 kg | 68 kg | 64 kg |
| Color | Metallic gray + black | Metallic gray + black | Metallic gray + black |
| Materials | Aluminum alloy + engineering plastics | Aluminum alloy + engineering plastics | Aluminum alloy + engineering plastics |
| Degrees of freedom | 42 integrated joints (head: 3; arms: 7 × 2; hands: 6 × 2; waist: 1; legs: 6 × 2); integrated joint design combining motor, reducer, and encoder in a compact unit | 21 integrated joints (arms: 4 × 2; waist: 1; legs: 6 × 2); integrated motor–reducer–encoder joints | 20 integrated joints (arms: 4 × 2; legs: 6 × 2); integrated motor–reducer–encoder joints |
| Main battery | Type: ternary lithium; capacity: 30 Ah + 3 Ah; voltage: 48 V | Type: ternary lithium; capacity: 30 Ah + 3 Ah; voltage: 48 V | Type: ternary lithium; capacity: 30 Ah + 3 Ah; voltage: 48 V |
| Charging time | Less than 4 hours | Less than 4 hours | Less than 4 hours |
| Endurance time | More than 3.5 hours | More than 3.5 hours | More than 3.5 hours |
| High‑precision IMU | Yes | Yes | Yes |
| High‑precision 6‑DoF force | Yes | / | / |
| Cameras | Head RGB‑D × 1, waist RGB‑D × 1, back RGB‑D × 1 | Head RGB‑D × 1, waist RGB‑D × 1, back RGB‑D × 1 | / |
| Voice module | MIC array: linear MIC × 4; speaker × 1; sound card × 1; 720p RGB monocular camera × 1 | MIC array: linear MIC × 4; speaker × 1; sound card × 1; 720p RGB monocular camera × 1 | / |
| Motion‑control compute unit | Model: Intel x86 i7‑1355U; CPU: 10 cores, 12 threads; max frequency up to 5 GHz; RAM: 16 GB; SSD: 256 GB | Model: Intel x86 i7‑1355U; CPU: 10 cores, 12 threads; max frequency up to 5 GHz; RAM: 16 GB; SSD: 256 GB | Model: Intel x86 i7‑1355U; CPU: 10 cores, 12 threads; max frequency up to 5 GHz; RAM: 16 GB; SSD: 256 GB |
| Development compute unit | Model: Orin AGX 64 × 2; compute: 275 TOPS × 2 | Model: Orin AGX 64 × 1; compute: 275 TOPS × 1 | / |
| System / software | OS: Ubuntu 22.04.4 LTS; middleware: ROS | OS: Ubuntu 22.04.4 LTS; middleware: ROS | OS: Ubuntu 22.04.4 LTS; middleware: ROS |
| Arms | 7‑DoF arms × 2 | 4‑DoF arms × 2 | 4‑DoF arms × 2 |
| Dexterous hands | Standard configuration | / | / |
| External communication | Wi‑Fi 6, Ethernet, Bluetooth | Wi‑Fi 6, Ethernet, Bluetooth | Wi‑Fi 6, Ethernet, Bluetooth |
| Internal communication bus | Full‑body CAN/EtherCAT bus; maximum leg control frequency ≥ 1 kHz; maximum arm control frequency 400 Hz | Full‑body CAN/EtherCAT bus; maximum leg control frequency ≥ 1 kHz; maximum arm control frequency 400 Hz | Full‑body CAN/EtherCAT bus; maximum leg control frequency ≥ 1 kHz; maximum arm control frequency 400 Hz |
