Three layers,
owned end to end
From custom silicon drivers and hard real-time RTOS to whole-body MPC and multimodal perception models. We control every layer of the stack.
What sits on what
Clean abstractions between silicon hardware, deterministic motion kernels, and high-level mission intelligence.
From photon
to torque
Every 5 milliseconds (200 times a second), the machine reads the ground, solves contact dynamics, and commands joint torques.
Perception
Solid-state lidar points and stereo RGB-D streams are fused into a local 5 cm elevation map in 4.2 ms.
Contact planning
Candidate footholds are scored for friction, slope, and structural integrity.
Whole-body MPC
Quadratic programming solver generates optimal ground reaction forces for centroidal stability.
Torque dispatch
Target joint currents are streamed to local SEA/QDD motor inverters over isolated 1 kHz fieldbus.
What happens
when it fails
Robots operating in complex terrain must fail safely. Our architecture guarantees fail-closed behavior across power loss, communication drops, and sensor blinding.
Triple watchdog
Isolated hardware supervisor board monitors MPC heartbeats. If the main compute hangs for >15 ms, the safety controller initiates a soft collapse pose.
Mechanical brakes
Spring-applied electromagnetic holding brakes on knee and hip pitch joints instantly engage upon DC bus under-voltage, locking joints before gravity drop.
Thermal derating
Winding temperature estimators proactively adjust peak torque envelopes to prevent sudden thermal shutdowns during high-demand climbs.
Every surface we
have broken on
Simulation is necessary, but physical hardware only gets honest in the dirt.
Monsoon Mud & Roots
Tested shear limits on saturated laterite soil and slick root tangles.
High Altitude Talus
Validated 4,500m cold-start thermal performance and loose scree recovery.
Fine Silica Sand
Verified Jali joint seals and micro-cleat retraction under high ambient heat.
Impact Drop Bench
10,000+ continuous step cycles on 30-degree inclined obstacle grids.