HighTorque Mini Pi+
HighTorque Mini Pi+ is a small humanoid robot platform made by High Torque Robotics. The manufacturer styles the name as Mini Pi plus, Mini Pi Plus, and Mini Pi+ across its English and Chinese materials. It distinguishes the full humanoid Mini Pi+ from Mini Pi, an earlier bipedal platform, and describes the newer robot as reusing Mini Pi's leg modules while adding a waist, arms, and head.[1][2]
Mini Pi+ is marketed for robotics research, education, competitions, and sim-to-real control development. High Torque Robotics provides documentation for onboard control, teleoperation, simulation, and policy deployment. Public specifications differ substantially among the company's pages, apparently reflecting configurations or revisions that the pages do not map explicitly.[1][2][3][4]
| Attribute | Current documentation |
|---|---|
| Manufacturer | High Torque Robotics |
| Robot type | Small full-body humanoid |
| Degrees of freedom | 27 in the hardware guide; 23 or 27 on the English product page[1][2] |
| Height and mass | About 75 cm and 13.84 kg in the hardware guide[2] |
| Peak joint torque | 21 Nm legs, 10 Nm arms, and 3 Nm head[2] |
| Central compute | RK3588 or a Jetson platform[2] |
| RK3588 memory and storage | 16 GB RAM and 128 GB storage[2] |
| Joint communication | CAN FD, with six independent subsystem buses[2] |
| Supported development | Python, C++, ROS 1, ROS 2, URDF, Isaac Lab, Isaac Gym, and MuJoCo[1] |
Design and actuation
The documented 27-DOF configuration has one waist joint, two six-DOF arms, a two-DOF head, and the reused leg assemblies. Integrated joint modules combine a motor, gearbox, driver, and dual encoders. The hardware guide identifies separate module families for the legs, waist, arms, and head, with peak torque ratings of 21 Nm, 10 Nm, and 3 Nm for the leg, arm, and head modules respectively.[2]
The control architecture uses CAN FD and assigns independent buses to major subsystems. High Torque Robotics documents six CAN FD buses and a control-loop rate of up to 1 kHz. These values describe communication architecture and design limits; they are not measurements of task success, balance, or autonomous performance.[2]
The English product page describes a Unit Box control core and lists one to two hours of runtime. It also advertises 21 Nm peak torque and 23- or 27-DOF configurations. Those are manufacturer specifications, and the public materials do not provide a standardized independent test protocol for runtime or torque under sustained use.[1]
Compute and sensors
High Torque Robotics documents two central-compute paths: an RK3588 platform or a Jetson platform. The integrated RK3588 control unit includes an inertial measurement unit, power management, communication interfaces, Wi-Fi, Ethernet, and over-the-air update support. The same guide lists 16 GB of RAM and 128 GB of storage for that RK3588 unit.[2]
The company does not identify a single fixed Jetson module on the hardware-reference page, so the RK3588 memory and storage figures should not be assumed for Jetson-equipped systems. A separate Chinese product page says the platform supports the NVIDIA Jetson Orin NX and Intel RealSense sensors, but it does not establish that either is included in every package.[3]
Software and simulation
The product page lists Python and C++ software development kits, ROS 1 and ROS 2 support, robot-description files, and compatibility with Isaac Lab, Isaac Gym, and MuJoCo.[1] The official Mini-Pi-Plus_BeyondMimic repository adapts the BeyondMimic motion-tracking framework to High Torque robots. It contains Mini Pi Plus assets and instructions for motion retargeting, policy training in Isaac Lab, export, and simulation checks in MuJoCo.[5]
That repository displays an MIT license. The license applies to the repository's covered software and files, not automatically to the robot hardware, firmware, every SDK, or third-party dependencies. High Torque Robotics calls the platform open source, but no blanket open-hardware license was identified in the reviewed product materials.[1][5]
Conflicting official specifications
High Torque Robotics' current pages do not present one consistent physical specification. The hardware guide describes approximately 75 cm and 13.84 kg with 27 DOF. The English product page lists 75.6 cm, 15 kg, and either 23 or 27 DOF. The Chinese product page lists 680 mm, 14.6 kg, and 22 DOF, while the store page lists 65 cm, 10.9 kg, and 26 DOF.[1][2][3][4]
These differences may reflect model evolution, measurement conventions, or sales configurations, but the sources do not provide a reliable revision table. The figures therefore should not be merged into a single definitive specification. Buyers and researchers need to verify the bill of materials and dimensions for a particular unit.
Price and availability
On September 2, 2026, the official online store showed Mini Pi Plus at US$5,500 and marked it sold out.[4] The page also contained a confusing struck-through US$3,500 value. Because package contents and configuration were not clearly mapped to the other product pages, the displayed price should be treated as a snapshot of that listing rather than a universal price for every Mini Pi+ configuration.
The manufacturer provides online setup, safety, bring-up, simulation, sim-to-real, interface, and troubleshooting documentation.[2] Support duration, replacement-part commitments, warranty terms across regions, and long-term software maintenance were not established by the reviewed sources.
Research use and evidence limits
The public BeyondMimic adaptation makes Mini Pi+ usable as a motion-control research platform, and a manufacturer brochure hosted by RoboCup presents High Torque robots for humanoid competition programs.[5][6] A secondary robot database also lists Mini Pi Plus, but its specifications substantially reproduce vendor material and show broad ranges that mirror the official inconsistencies.[7]
No peer-reviewed independent evaluation of Mini Pi+ hardware, reliability, autonomy, or sim-to-real performance was identified in the sources reviewed through September 2, 2026. Repository examples and company demonstrations establish that tooling and demonstrations exist, but they do not by themselves prove general task performance. The supplied X post was used only to identify the topic; no factual claim in this article depends on it.
See also
References
- ^High Torque Robotics. "Mini Pi plus." Accessed September 2, 2026. hightorquerobotics.com/mini-pi
- ^High Torque Robotics. "Hardware - Mini Pi plus From Scratch." Accessed September 2, 2026. hightorque.cn/...hardware
- ^High Torque Robotics. "Mini Pi plus." Chinese product page. Accessed September 2, 2026. hightorque.cn/pi-plus
- ^High Torque Robotics Store. "Humanoid robot Mini Pi Plus." Accessed September 2, 2026. store.hightorque.cn/...bipedal-robot-mini-pi-plus
- ^HighTorque-Robotics. "Mini-Pi-Plus_BeyondMimic." GitHub. Accessed September 2, 2026. github.com/...Mini-Pi-Plus_BeyondMimic
- ^High Torque Robotics. Company brochure hosted by the RoboCup Humanoid Robot Program. Accessed September 2, 2026. robotprogram.robocup.org/...HighTorque_Intro.pdf
- ^Humanoid.press. "Mini Pi Plus." Accessed September 2, 2026. humanoid.press/...mini-pi-plus
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