Hardware - Innate Docs

MARS is a compact mobile manipulator: a differential-drive base, a 5-joint arm with a gripper, a tilting head, and a Jetson computer that runs everything onboard. The cloud only handles the agent’s model call and policy training.

MARS taken apart: LiDAR, depth camera with tilt, USB extension ports, Jetson Orin Nano, body with speaker, wheels and power distribution, the 5+1 DoF arm with its wide camera, and the battery

Specs

Part	Spec
Compute	Jetson Orin Nano Super 8GB, 67 TOPS, 6-core ARM CPU, 1 TB SSD
Head camera	Stereo RGB, 150° diagonal FOV, depth from 40 cm to 6 m (under 2% error to 3.5 m)
Wrist camera	RGB, 160° FOV, 1920×1080 at 30 FPS
LiDAR	2D, 360°, 0.15–6 m range, 6 Hz (up to 10 Hz)
Arm	40 cm reach, 2 mm repeatability, 250 g payload at full extension
Expansion	2 powered USB 3.0 ports (1.2 A each), plus GPIO and 5V/12V terminals. See Extending MARS.

Motors

Seven Robotis Dynamixel servos, all with 4096 steps per revolution. Motors 1–6 are the arm (6 is the gripper) and motor 7 is the head.

Motors	Model
1, 3	`XL430-W250-T`
2	`XC430-T240BB-T`
4–7	`XL330-M288-T`

What it can do

Capability	How	Learn more
Navigate with a map	LiDAR localization on a saved map. Needed for spatial memory.	Driving
Navigate without a map	Obstacle avoidance from onboard sensors only.	Driving
Manipulate	Trained policies, or code using the arm API.	Training, Movement API
Talk and listen	Speaker, microphone, and the Innate agent.	How the agent decides
Remember places	Stores views tied to the map and searches them.	Spatial memory

Open source

The hardware designs are at github.com/innate-inc/mars and the software at github.com/innate-inc/innate-os. Buy an assembled robot at innate.bot.