Tianji Robotics Gento Luna Wheeled Folding Humanoid

Overview

Gento Luna is the wheeled folding humanoid from Tianji Robotics (Guangdong Tianji Intelligent Systems, Songshan Lake, Dongguan, grown out of a joint R&D center between Everwin Precision and Yaskawa Electric) under its whole-machine brand Gento. It made its international debut at ICRA 2026 in Vienna as a platinum partner and its domestic debut at WAIC 2026, and has since won large domestic and overseas orders with scaled delivery under way. The platform packs 26 DoF (excluding dexterous hands) with force control as standard: 7-DoF force-controlled humanoid arms rated at 6 kg per arm with ±0.03 mm repeatability, plus force-controlled joints across the 6 DoF of waist and legs for whole-body compliant impedance control that manages contact force and interaction stiffness to keep human-robot collaboration safe. A folding design switches height between 1700 mm fully extended and 790 mm folded, so it rides standard elevators and passes narrow doorways while staying compact in storage; the four-wheel-drive, four-wheel-steer omnidirectional chassis delivers in-place rotation, omnidirectional translation and zero-radius turning for manipulation on the move with no blind spots. Compute comes from an NVIDIA Jetson Orin AGX 64GB platform (275 TOPS) with full ROS 2 support, a complete SDK and secondary-development APIs; fused 3D LiDAR and ultrasonic radar build centimeter-level maps with real-time obstacle avoidance and autonomous path planning; a 48 V 34.4 Ah LiFePO4 pack supports 4-8 hours of continuous operation with manual charging, automatic charging and fast battery swapping; active anti-tipover computes stability margin in real time and holds balance through motion constraints and posture adjustment; and a distinctive expression-light language paired with visual recognition suits reception and guided tours. Target scenarios span home service, research and education, industrial inspection and commercial service.

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