XMAN-R1

Wheeled-base humanoid service robot

XMAN-R1 is KEENON’s humanoid service robot on a wheeled base. It stands 174 cm tall, weighs 110 kg and spreads 36 degrees of freedom across its two arms, waist, head, base and six-joint hands. The rolling base gives it reach and speed indoors, while the arms handle objects precisely as it interacts with people.

174 cm tall
110 kg
36 degrees of freedom
275 TOPS of compute
2 LiDAR units
8 cameras
6-DOF dexterous hands
Wheeled base

Features

Wheeled drive, ready for many scenarios

Moving on wheels means it is not tied to a single kind of space: the same robot works across very different environments.

Powered by deep reinforcement learning

Behaviour is driven by a large VLA model, which speeds up every iteration and keeps it stable in situations it has not seen before.

In-house communications, stable while moving

KEENON developed its own communication protocol and sets up a dedicated network for the robot, so the link does not drop mid-task.

Open ecosystem, ready for custom work

The platform is open on both the hardware and the software side, which makes adding new skills much simpler.

Specifications

Height	174 cm
Weight	110 kg
Degrees of freedom	36 in total
Arms	2 arms, 7 DOF each
Waist and legs	6 DOF
Head	2 DOF
Wheeled base	2 DOF
Dexterous hands	2 hands, 6 DOF each
LiDAR	2 units, forward and rear sensing
Depth cameras	4, for motion planning and environment sensing
Wide-angle cameras	4 HD units, 360° coverage
Computing power	275 TOPS
Graphics memory	64 GB
Storage	64 GB
Audio	HD omnidirectional microphone and stereo speaker
Display	HD flexible curved face screen
Teleoperation	VR dual-arm remote operation with multimodal data capture