# TIAGo 移动操作机器人 (TIAGo)

> 权威词条地址：https://robotics.hellobike.com/robots/pal-robotics-tiago
> 所属分类：robots | 最近核验日期：2026-10-14 | 技术层级：L1

## 核心摘要

TIAGo 是一款基于 ROS、可按 AI、机器学习、HRI 和操作研究需求定制的移动操作机器人。

## 结构化工程参数

| 参数项 | 数值 / 配置 |
| :--- | :--- |
| `overview_sources` | ["https://pal-robotics.com/robot/tiago/"] |
| `layers` | ["L1"] |
| `updated` | 2026-10-14 |
| `vendor` | pal-robotics |
| `category` | mobile |
| `dof` | 7 |
| `height_m` | 1.45 |
| `payload_kg` | 3 |
| `battery_h` | 5.0 |
| `compute` | 车载工控机 / 自主导航控制器 |
| `sensors` | ["激光雷达"] |
| `sdks` | ["pal-robotics-aruco-ros", "pal-robotics-backward-ros", "pal-robotics-ddynamic-reconfigure-python", "pal-robotics-ddynamic-reconfigure", "pal-robotics-gazebo-ros-link-attacher", "pal-robotics-pal-statistics", "pal-robotics-play-motion-builder", "pal-robotics-play-motion2", "pal-robotics-realsense-gazebo-plugin", "pal-robotics-tiago-robot", "pal-robotics-tiago-simulation", "pal-robotics-tiago-tutorials"] |
| `sim_assets` | {"urdf_url": "https://github.com/pal-robotics/tiago_robot/blob/humble-devel/tiago_description/robots/tiago.urdf.xacro", "mjcf_url": "https://github.com/google-deepmind/mujoco_menagerie/blob/main/pal_tiago/tiago.xml", "usd_url": null, "repo_url": "https://github.com/pal-robotics/tiago_robot", "simulators": ["MuJoCo", "Gazebo", "ROS 2"], "note": "PAL 官方 tiago.urdf.xacro 与 MuJoCo Menagerie tiago.xml。"} |
| `applications` | ["research"] |
| `safety` | {"estop": null, "fall_behavior": null, "failsafe": null, "speed_limit_configurable": null} |
| `ai_summary` | True |
| `expansion_interfaces` | ["Google API接口"] |
| `mountable_devices` | ["机械臂", "Hokuyo激光雷达", "末端执行器"] |

## 技术详解与生态说明

TIAGo 是面向研究需求的移动操作机器人，并采用模块化设计。

TIAGo的弹性执行器机械臂由7个连续独立力矩可控关节组成。TIAGo 支持在无机械臂和最高 2 条机械臂之间进行配置。TIAGo 的机械臂负载为 3千克，条件是不含末端执行器。TIAGo使用1块电池时，电池自主工作时间为4-5小时。TIAGo 的高度为 110-145厘米，底盘占地直径为 ø 54厘米。TIAGo 可配置 Hokuyo 激光雷达，探测范围为 5.6米。

TIAGo提供ROS基础和开源仿真，可下载Docker镜像试用导航与操作能力。TIAGo用于研究项目、机器人竞赛以及特定功能展示等场景。TIAGo的编程相关功能中列有Google API接口选项。


## 原始核验来源 (Sources)

- [PAL Robotics：PAL Robotics 产品页](https://pal-robotics.com/robot/tiago/)
- [MuJoCo Menagerie TIAGo](https://github.com/google-deepmind/mujoco_menagerie/blob/main/pal_tiago/tiago.xml)