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MARS is a compact mobile manipulator with onboard AI compute, designed as a complete platform for building and sharing real-world robot applications.

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Hardware at a glance

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Sensors

MARS combines complementary perception sources: a forward-facing stereo RGB camera that computes scene depth, a gripper-mounted RGB camera for close manipulation, and a 2D LiDAR for localization.

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Camera matrix

SpecForward-Facing Stereo CameraGripper-Mounted RGB Camera
Camera typeStereo RGBRGB
Diagonal field of view150°160°
Effective range40 cm to 6 mClose-range manipulation
Depth supportYes — computed from stereo disparityNo
Depth accuracy<2% up to 3.5 m, <4% to 6.5 m, <6% to 9 mN/A
ResolutionN/A2MP (1920x1080)
Frame rateN/A30 FPS
Primary roleNavigation and scene perceptionVisual servoing and grasp alignment

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2D LiDAR

PropertyValue
Coverage360°
Range0.15 m to 6 m
Angular resolution<=1°
Distance resolution<0.5 mm
Scan rate6 Hz (up to 10 Hz)
Primary useSLAM and navigation

ROS2 Topics Reference

LiDAR data is exposed on /scan as sensor_msgs/LaserScan (RPLidar stack).

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Custom sensors

MARS provides two powered USB 3.0 ports for additional sensors/peripherals.
Port propertyValue
USB ports2x USB 3.0
Power output1.2 A per port
Data rateUp to 5 Gbps
Hot swapSupported
Backward compatibilityUSB 2.0 devices supported

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Arm

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Specifications

PropertyValue
Reach40 cm
Repeatability2 mm
Payload250 g at maximum extension

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Actuators

Seven Dynamixel servos (Robotis) drive MARS, numbered 1–7: motors 1–6 form the arm (motor 1 at the base, motor 6 driving the gripper) and motor 7 moves the head.
MotorsDrivesModelLink
1, 3Arm (lower joints)XL430-W250-TProduct Page
2Arm (lower joint)XC430-T240BB-TProduct Page
4–7Arm wrist + gripper, and headXL330-M288-TProduct Page
SpecXL430-W250-TXC430-T240BB-TXL330-M288-T
Used byMotors 1, 3Motor 2Motors 4–7
Gear ratio258.5 : 1245.22 : 1288.4 : 1
Resolution4096 pulse/rev4096 pulse/rev4096 pulse/rev
All three models share the same 4096 pulse/rev encoder resolution — about 0.088° per step at the output shaft. The full electrical and mechanical specs are on the Robotis product pages linked above.
These actuators were chosen for robustness and repeatability. The arm can reliably perform tasks such as chess manipulation (see Examples).

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Onboard Computer

MARS ships with a Jetson Orin Nano Super 8GB Development Kit.
ComponentSpecification
AI performanceUp to 67 TOPS (sparse INT8)
GPUNVIDIA Ampere architecture with 1024 CUDA cores and 32 Tensor cores
CPU6-core ARM Cortex-A78AE v8 (64-bit)
Memory8 GB LPDDR5
Storage1 TB SSD (integrated by Innate)
Dev kit baseJetson Orin Nano Super module and reference carrier board
Innate also exposes two additional USB ports for user extensions after core system wiring.

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Platform details

MARS is delivered assembled and calibrated so you can start quickly, while still being open and mod-friendly for deeper customization. You can buy an assembled MARS and access the open hardware/software repository:

Innate Website

Buy assembled MARS units and find product information.

MARS Repository

Open-source hardware and software repository.