Full-Size Humanoid Robot
Booster K1 Specifications
Complete technical specifications extracted from the Booster Robotics K1 developer documentation.
Physical & Kinematic
| Vendor | Booster Robotics |
| Model | K1 |
| Form Factor | Full-body bipedal humanoid |
| Total DOF | 22 |
| Head DOF | 2 — yaw (pan) and pitch (tilt) |
| Head Yaw Range | approx. −90° to +90° |
| Head Pitch Range | approx. −40° to +30° |
| Arm DOF | Multiple per arm (bilateral) |
| Leg DOF | Full bipedal kinematics per leg |
Control Modes
| DAMP | Passive damping — default power-on and shutdown state |
| PREP | Robot stands and holds position using balance controller |
| WALK | Full bipedal gait controller — accepts velocity and action commands |
| CUSTOM | Direct 22-DOF joint control for research (lifting fixture required) |
| PROTECT | Fault state — entered automatically, requires fault clearance |
| SDK method | client.change_mode(booster.Mode.PREP) |
Walking & Locomotion
| Walk Speed (forward/back) | −0.5 to +0.5 m/s |
| Walk Speed (lateral) | −0.5 to +0.5 m/s |
| Rotation Speed | −1.0 to +1.0 rad/s |
| Walk API | client.walk(forward, lateral, angular) |
Connectivity & Network
| Network Interface | Wired Ethernet |
| Default Wired IP | 192.168.10.102 |
| Computer IP (wired) | 192.168.10.10 / netmask 255.255.255.0 |
| Wireless | Via Booster App (IP assigned dynamically) |
| SSH Access | ssh booster@192.168.10.102 · password: 123456 |
Software & SDK
| SDK Package | booster_robotics_sdk_python (PyPI) |
| Python Version | 3.8+ |
| ROS2 | URDF model + bridge node pattern |
| Agent System | Default, Soccer, HiChat, Dance, LionDance |
| Platform Agent | k1_agent.py |
| Official SDK Repo | github.com/BoosterRobotics/booster_robotics_sdk |
Telemetry
| Battery Level | status.battery_percentage (float, 0–100) |
| IMU Data | status.imu_status |
| Default Telemetry Rate | 8 Hz (configurable via --telemetry-hz) |
| Joint Telemetry | 6 primary joint angles in degrees (j1–j6) |
| Motor States | Position, RPM, temperature per motor |
| Walk Velocity | vx, vy, wz components |
ROS2 Topics (Convention)
/k1/joint_states | sensor_msgs/JointState — 22-DOF joint positions and velocities |
/cmd_vel | geometry_msgs/Twist — walk velocity commands |
/k1/battery | sensor_msgs/BatteryState — battery percentage |
/k1/imu | sensor_msgs/Imu — IMU orientation and angular velocity |