1.1 Design Concept

Mercury X1 is a wheeled dual-arm humanoid robot with 19 degrees of freedom for embodied intelligence applications. It is composed of Mercury B1 dual-arm robot and a high-performance mobile base. The whole machine is equipped with a new self-developed Liyuan series harmonic module. The new modular design module comes standard with electromagnetic brakes and hollow wiring. It has the characteristics of high precision, high inertia and low weight. It is also equipped with NVIDIA Jetson Xavier main control, which works together with four independent secondary control units. The mobile base is equipped with high-performance lidar, ultrasonic sensors and 2D vision and other rich perceptions; it is driven by a direct drive motor with a maximum operating speed of 1.2m/s; the maximum climbing height is 2CM; the maximum climbing angle is 15 degrees. The maximum battery life of the whole machine is up to 8 hours, meeting the needs of personal and commercial applications.