Robot Overview¶
uMe is a full-size humanoid robot by United Robotics Group.
Hardware¶
- 23 degrees of freedom: head 2, each arm 4, hip 1, each leg 6.
- Sensors: depth camera, microphone array.
- Output: speaker in the head.
- Compute & power: control board and battery in the torso; a Motion Board for real-time motion; a Perception Board that runs the camera, the conversational agent, and the uMe Gateway.
Capabilities¶
- Omnidirectional walking (forward, backward, sideways, rotation).
- Disturbance resistance on uneven ground.
- Predefined motions (wave, shake hand, get up, and more — firmware/agent dependent).
- Conversational voice dialog with a configurable persona and context.
Two on-board computers¶
| Board | Role |
|---|---|
| Control board (torso) | Real-time motion & safety, uMe runtime |
| Perception Board (Jetson AGX Orin) | Camera, conversational agent, and the uMe Gateway (port 8765). User booster. This is the address the app connects to. |
| Motion Board | Real-time motion control. Reached by the Gateway over DDS — nothing of ours is installed there. User master. |
The Gateway on the Perception Board is what the app and SDK clients talk to. See Architecture.
Firmware note¶
Some features (agent-based actions, the richer action library, conversational agents) depend on the robot's firmware version. Older firmware can report "firmware doesn't support AGENT". Clients should gate features by capability rather than assume everything is available.