Luna overview
Gento Luna is a wheeled, foldable humanoid robot. It carries Marvin Series M6 Lite dual arms on an omnidirectional chassis with independent four-wheel steering and four-wheel drive. The standard compute platform is NVIDIA Orin, with an optional high-compute NVIDIA Thor. Luna has 26 DoF in total (excluding end effectors), whole-body force control as standard, 3D SLAM navigation, autonomous obstacle avoidance, VR teleoperation, and an SDK for development.
It stands 1700 mm tall and folds down to 790 mm, so it fits in elevators, narrow spaces, and storage.
Degrees of freedom
| Section | DoF |
|---|---|
| Head | 2 |
| Arms | 7 × 2 |
| Waist | 3 |
| Legs | 3 |
| Chassis | 4 |
| Total | 26 (excluding end effectors) |
Main components
| Component | Role |
|---|---|
| NVIDIA Orin edge AI computer (domain controller) | AI algorithms, sensor fusion, device management, network scheduling; runs the teleoperation back end |
| Tianji Motion Control Computing Platform (motion controller) | Torso and arm motion control; EtherCAT master for all joint drivers |
| RDK S100 chassis controller | Chassis motion control, status feedback, and system management |
| 3D LiDARs, ultrasonic sensors, chassis stereo camera | Mapping, localization, navigation, and obstacle avoidance |
| Head, wrist (and optional chest) cameras | Scene perception and close-range manipulation views |
| Two LiFePO4 batteries | Robot power; manual charging, auto-return charging, and battery swap |
Luna complies with FCC Part 15B.
Suggested reading order
The manual follows the real order of use. On first use, read in this order:
- Specifications: hardware capabilities and limits
- Unboxing & first use: checks, power-on, and driving the chassis with the gamepad
- Interfaces & network: rear panel, IP addresses, and communication architecture
- GentoPlatform: controlling body and arm motion
- SDK & teleoperation: development and VR teleoperation
- Maintenance & safety: routine checks and safety rules
Luna is high-power moving equipment; improper operation may cause injury or damage. Read the safety precautions in maintenance & safety before operating it.
Manuals and product documents are listed in manuals & source resources.