STAR1 is RobotEra’s full-size general-purpose humanoid — a 171 cm bipedal platform built at Tsinghua University’s Institute for Interdisciplinary Information Sciences, aimed at real-world manufacturing, logistics, and domestic tasks rather than a research-lab-only demo. It has set a real-world speed record for bipedal robots and has already shipped in volume for commercial deployments.
The mechanism
The body carries 31 degrees of freedom: a 3-axis waist, a 2-axis head, 7 per arm (shoulder pitch/roll, an arm-yaw axis, elbow pitch/yaw, wrist pitch/roll), and 6 per leg (hip pitch/roll/yaw, knee, ankle pitch/roll). Each wrist adds a fully direct-driven dexterous hand with 12 actuated joints of its own — every finger independently driven, not a tendon-coupled underactuated design — for 24 additional DOF across both hands. Body plus both hands: 31 + 24 = 55 actuated degrees of freedom, matching RobotEra’s own published spec for this platform exactly. No mimic joints or closed kinematic loops anywhere in the description — every one of those 55 is a real, independent read of the URDF.
About this file — read before importing
This links directly to roboterax/models, RobotEra’s own repository. ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what RobotEra publishes, unmodified.