Mini Hi is HighTorque Robotics’ full-size humanoid research platform — a 25-DOF biped built for embodied-AI research, locomotion control, and general-purpose manipulation work, distinct from the company’s arms-free Mini Pi bipedal walker.
The mechanism
Twenty-five actuated revolute joints: 6 per leg (hip pitch/roll, thigh, calf, ankle
pitch/roll), 1 waist yaw, 5 per arm (shoulder pitch/roll, upper-arm roll, elbow,
wrist), and 2 in the head (yaw and pitch) — no mimic joints, no closed kinematic loops.
The URDF also carries a floating_base_joint at the root, representing the robot’s free
6-DOF base pose rather than a real actuator, excluded from the DOF count above.
About this file — read before importing
This links directly to
HighTorque-Robotics/ht_robot_urdf,
HighTorque Robotics’ own repository — specifically its hi_25dof/ package, one of three
sibling robot descriptions in the same monorepo (the others are
Mini Pi and Mini Pi+). ARMOR
links directly to the repository rather than re-hosting anything, so what you get is exactly
what HighTorque Robotics publishes, unmodified.