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Table 1 HSR basic specifications [3]

From: Development of Human Support Robot as the research platform of a domestic mobile manipulator

Height ϕ430 × 1005 (~ 1350)mm
Weight 37 kg
Arm length 600 mm
Shoulder height 340 ~ 1030 mm
Grasped object ~ 1.2 kg weight
~130 mm width
Maximum velocity 0.8 km/h
Mobility performance ~ 5 mm difference in level
~ 5 deg slope