Humanoid Robot
Architecture
A reference architecture that unifies perception, deterministic control, functional safety and intelligent interaction in one scalable system.
Head Intelligence
Edge AI Compute
Jetson Orin NX + FPGA
Vision · Audio · Gaze
Human interaction
Body AI
NVIDIA Jetson AGX Thor
Task · Perception · Planning
Context-aware control
Real-Time Motion
Real-Time Controller
Balance · Gait · Joint control
EtherCAT Master
Safety Architecture
Independent Safety Controller
Controlled stop · Brake / hold
Fall-risk management
Head ↔ Body AI Perception · Speech · Gaze targets
Motion ↔ Drives Setpoints · Encoder / torque feedback
Safety ↔ Drives Stop category · Brake / hold · Status
System Architecture Views
Four views of sensing, timing, compute, motion and safety across the humanoid platform.
01Whole-Body Architecture
A synchronized pipeline connects sensing and system telemetry to accelerated AI, deterministic motion and independent safety control.
NATIVE INTERFACES CSI-2 · GMSL SPI · I²C · UART ADC · CAN EtherCAT DC Hardwired safety chain SENSING Sensors & System Telemetry Cameras · LiDAR Force / Torque Native IMU Power telemetry · BMS CAPTURE & TIME FPGA Sensor Bridge Time alignment Event reconstruction AI COMPUTE AI Compute Domains Body AI Jetson AGX Thor Head Edge AI Orin NX-class ROS 2 · Logger / OTA MOTION CONTROL RT Motion Controller State estimation · MPC Hard real-time execution PTP ↔ EtherCAT DC correlation INDEPENDENT SAFETY Safety Controller Independent logic & diagnostics Controlled-stop supervision Fall-risk mitigation SAFETY I/O Safety I/O INPUTS E-stop · limits DIAGNOSTICS Voltage · current · temperature OUTPUTS Brake / hold Drive inhibit · isolation J01 Left Leg J02 Left Arm / Hand J03 Head / Neck J04 Torso J05 Right Arm / Hand J06 Right Leg Joint ActuatorsMotors / Encoders / Drives 2. TALO-B1000 1 5. AEB-IU300 3 4. TALO-M1000
Recommended Albatron platforms
AI perception and planning.
Synchronized sensor acquisition.
Time-aware network connectivity.
EtherCAT inertial-state feedback.
Motion-control host; requires a real-time OS, control stack and cycle validation.
Safety scope: This is a reference safety concept, not a certified safety function. The safe state and stop strategy—including controlled stops, brake / hold behavior, drive isolation and fall-risk management—must follow a project hazard analysis and be validated to applicable standards such as IEC 61508, ISO 13849 and IEC 61800-5-2.