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#IMU (54)

WaterfallPagination

3:20

SSIO: Self-Supervised Inertial Odometry from Raw IMU

@robotsdigest · 87 views · 2026-10-29

SSIOInertial Odometry

0:49

SSIO: Self-Supervised Inertial Odometry Without Labels

@QiuYuhengQiu · 103 views · 2026-10-28

SSIOInertial Odometry

ROS Tutorial 15 Deep Read: robot_localization — from wheel odometry & IMU to robot state estimation

A deep read of chapter 15 of wdfk-prog's ROS tutorial series: why you need robot_localization even when the driver already publishes /odom. Covers EKF vs UKF predict-correct over 15 states (31 sigma points), the real roles of P/Q/R covariances, the data-provenance thinking behind 15-bit _config switches, the semantic gap between differential (velocity) and relative (pose), TF ownership refactoring (/odom→/odom/raw, EKF takes over odom→base_link), world_frame and sensor_timeout time semantics, and the contract-first mindset: every observation must answer who measured it, in which frame, at which time, and how trustworthy it is.

BLOG

ROSrobot_localization

How to Build a Humanoid Robot: A Seven-Layer Constraint Chain from Joint Modules to Sim-to-Real

A humanoid robot is not an assembly of seven modules but a stack of physics equations that set each other's boundary conditions. This article computes the whole-machine stack layer by layer: joint motor modules (declared torque versus real quasi-static CoP demand — knee margins across three vendors converge to 2.23-2.42x while BHL's knee has only 1.51x) -> IMU (lever-arm pseudo-acceleration is 21,752x the sensor noise floor, so mounting position matters four orders of magnitude more than the datasheet) -> materials and structure (three BOM revisions of AgiBot's X1 as a load-path history: every part entering the closed-chain drivetrain upgraded to 7075-T6 / TC4 / 17-4PH) -> sensors (fix the observation space before the shopping list) -> battery and BMS ('all joints at peak simultaneously' is physically impossible: G1's 46,062 W against a 421 Wh pack is 109 C) -> software control and the CAN-level low-side boards (22 nodes at 500 Hz on one bus is 130.9% load, so it must be split into four) -> simulation training and sim-to-real: domain randomization, sim2sim, zero calibration (ATOM01's 2.093 rad waist-yaw assembly offset, the |q| < 1e-2 rad acceptance gate, and write_motor_flash() being a no-op in three of the four motor drivers), plus 10 of 13 real failure modes being hardware calibration rather than simulation fidelity. Every figure comes from programmatic parsing of the five machines' public model files, deployment and calibration source, plus official vendor specifications, and is recomputable.

BLOG

HumanoidJoint modules

Manifold Tech Odin1 Spatial Memory Module

Manifold Tech's Odin1 is a spatial memory module for robots and UAVs: it packs a 940 nm, Class 1 eye-safe dToF depth engine (240x180 resolution, 0.2-30 m at 10% reflectivity, up to 70 m at 90%, up to 700,000 pts/s, +/-3 cm at 1 sigma, 120x90 deg FOV, 0.5x0.5 deg angular resolution, up to 15 FPS), a 1600x1296 global-shutter RGB camera (129 H x 104 V x 173 D deg FOV) and a high-rate IMU into a ~280 g, IP66 body measuring 100x62x43 mm. On-board compute provides native space-time synchronization and runs the in-house MindSLAM stack, so multi-sensor fusion, 3D mapping, 6DOF pose estimation and spatial-memory relocalization all happen inside the module, which then streams pose, true-color/raw point clouds, raw RGB and high-frequency IMU data directly - no external high-performance computer, no hand-built localization stack, no sensor-fusion tuning. Developers get a Linux C++ SDK plus ROS 1 / ROS 2 drivers (odin_ros_driver with point-cloud-to-depth, reprojection and image-overlay nodes and RViz configs) and can deploy custom SLAM algorithms; the MindCloud Studio / Go / Render suite and MindCloudX.AI cloud platform complete a real-to-sim loop of Pocket2 capture, MindCloud 3DGS processing, Isaac Sim training and Odin1 deployment. Official figures quote +/-5 cm + 1% SLAM positioning accuracy (with RTK correction) and 0.2% drift, 9-26 V input at 11 W rated / 24 W peak, and -10 C to 40 C operation. Odin1 ships on platforms such as Unitree H1, Astrall Dynamics and RoboForce TITAN, and sells for USD 999 in the official store (SKU ODIN1-001, B2B quoting for volume).

COMPONENT

Spatial Memory ModuleSLAM

HiPNUC HI71 Tactical-Grade Compact Attitude/INS Module

HiPNUC (Beijing) HI71 is a tactical-grade compact inertial module in a 24×24×14 mm aluminum case with board-to-board connectors for easy integration. Four variants: T2 (VRU), T4 (AHRS + barometer), M4 (MRU heave) and N4 (INS): gyro ±300 °/s with 0.3 °/h bias instability and 0.0004 °/s√Hz XY noise density; accelerometer ±16 g with 10 μg bias instability; T4/M4/N4 add a ±20 Gauss magnetometer and 300~1200 hPa barometer. Pitch/roll 0.05~0.1°, UART up to 1000 Hz and CAN at 200 Hz, binary/CANopen/Modbus/NMEA protocols with PPS/UTC sync, 3.6~5 V supply at 370 mW.

COMPONENT

IMUAttitude sensors

HiPNUC HI70 Tactical-Grade High-Precision IMU

HiPNUC (Beijing) HI70 is a tactical-grade high-precision inertial sensor in a 44.8×38.6×18.5 mm aluminum enclosure weighing 55 g, with full-temperature factory calibration of scale factor, cross-axis and bias plus excellent vibration tolerance. Gyro ±300 °/s with 0.3 °/h bias instability and 0.0004 °/s√Hz XY noise density, up to 250 Hz 3dB bandwidth; accelerometer ±16 g with 10 μg bias instability; T3 variant adds a ±20 Gauss magnetometer. Static/dynamic pitch-roll 0.05~0.07° with 0.1° heading drift over 2 h stationary. RS-232/RS-422 up to 1000 Hz and CAN at 200 Hz, binary and CANopen protocols, wide 4.8~36 V input at 400 mW.

COMPONENT

IMUAttitude sensors

HiPNUC HI13 USB Type-C Attitude Sensor

HiPNUC (Beijing) HI13 is a stand-alone aluminum-enclosure attitude sensor of 26×24×12 mm with plug-and-play USB Type-C and a fully symmetric design for easy integration. Seven variants M0/M3/R2/R3/S2/S3/S4: M/R series offer ±2000 °/s gyro and ±24 g accelerometer, while S series reach ±4000 °/s and ±32 g, with bias instability up to 1.6 °/h; three variants include a ±2000 μT wide-range magnetometer. USB output up to 1000 Hz, 4.5~5.5 V supply, 215~300 mW, −40 to +85 °C — ideal for robots needing ready-to-read attitude data.

COMPONENT

IMUAttitude sensors

HiPNUC HI06 Tactical-Grade Compact SMD IMU

HiPNUC (Beijing) HI06 is a tactical-grade compact SMD attitude module of 15×15.2×2.6 mm with full-temperature calibration of scale factor, cross-axis alignment and bias. Gyro ±4000 °/s with 0.0025 °/s√Hz noise density and bias instability as low as 0.9/1.0/1.1 °/h, up to 400 Hz 3dB bandwidth; accelerometer ±32 g with 0.011~0.05 mg bias instability; T3/N3 variants add a ±2000 μT magnetometer. Static pitch/roll 0.08~0.12°, UART at 1000 Hz and CAN at 200 Hz, PPS/UTC sync, 3.2~5.5 V supply at 220 mW, with official ROS, C and QT example code.

COMPONENT

IMUAttitude sensors

HiPNUC HI05 Full-Featured Low-Noise SMD IMU

HiPNUC (Beijing) HI05 is a full-featured, low-noise SMD attitude module of 15×15×2.6 mm and under 1.5 g, offering IMU/VRU/AHRS/INS variants with optional barometer. Gyro ±4000 °/s with 0.0025 °/s√Hz noise density, 4/1.5/1.7 °/h bias instability and up to 400 Hz 3dB bandwidth; accelerometer ±32 g with 0.012~0.016 mg bias instability. R3/N3/R4/N4 variants add a ±2000 μT magnetometer, and R4/N4 a 300~1200 hPa barometer. UART at 1000 Hz and CAN at 200 Hz, 3.2~5.5 V supply, 195~205 mW, with PPS/UTC time synchronization.

COMPONENT

IMUAttitude sensors

HiPNUC HI02 Low-Cost SMD IMU Attitude Module

HiPNUC (Beijing) HI02 is a compact SMD 6-axis attitude module built for cost-sensitive mobile platforms, measuring just 15×15×2.6 mm with full-temperature factory calibration. Gyro ±2000 °/s with 2.5/3.2/3 °/h three-axis bias instability; accelerometer ±24 g; static pitch/roll accuracy 0.1~0.2°. UART(TTL) output at 200 Hz, 3.2~5.5 V supply, −40 to +85 °C operation, and onboard EKF fusion delivering both calibrated raw data and fused attitude — aimed at robot vacuums, lawn mowers and pool cleaners.

COMPONENT

IMUAttitude sensors

SZLIGHT IMU-G-1020-S 6-Axis Industrial IMU Module (HiPNUC HI14 Core)

IMU-G-1020-S is an industrial 6-axis IMU module from Shenzhen SZLIGHT (SZLCTEK), built on a purple PCB (V1.0, 2025-08-29) around a HiPNUC HI14-series MEMS inertial chip (silkscreen HIPNUCHI14). The HI14 family offers gyro ranges of ±2000 to ±4000 °/s and accelerometer ranges of ±24 to ±32 g, outputs fused Euler angles and quaternions at up to 1000 Hz over UART/USB, and applies full-temperature compensation from -40 to +85 °C for harsh outdoor environments. This board breaks out 5V/GND, TXD/RXD, an RSYNC sync pin and RS-485 (485A/485B) through an 8-pin connector, targeting robot attitude sensing and stabilization. No public page exists for the module vendor, so core specs follow the official HiPNUC HI14 datasheet.

COMPONENT

IMUMEMS

0:26

Ego-OSCAR: open-source sub-$200 wearable for robot training data

@21nemus · 582 views · 2026-08-22

Ego-OSCARFPV Labs

0:15

GRIP: Full-Body Motion Capture with Just 4 IMUs

@tokufxug · 566 views · 2026-08-18

GRIPIMU

QST QMI8658 6-Axis MEMS IMU Chip

QST (Shanghai) QMI8658 is a 6-axis MEMS IMU chip in a 2.5×3.0×0.86 mm 14-pin LGA package: gyro ±16~±2048 °/s with 15 mdps/√Hz noise density, accelerometer ±2~±16 g; I3C/I2C/SPI interfaces, −40 to +85 °C operation, on-chip temperature sensor with compensation and on-chip self-calibrated 9-axis fusion. Aimed at highly integrated designs such as drones and robot vacuums, it also serves as a chip-scale sensing option for robots.

COMPONENT

IMUMEMS Chip

BWsensing IMU400C High-Precision Inertial Measurement Unit

BWsensing (Wuxi) IMU400C is a high-precision 6-axis inertial measurement unit: gyro ±400 °/s with 0.01 °/s resolution, bias stability <0.5 °/h (100 s, 1σ) and angular random walk <0.1 °/√h; accelerometer ±3.6 g with 0.01 mg resolution and 0.001 mg bias stability. 500 Hz output over RS232/RS485/TTL, measuring 60×59×29 mm with −40 to +85 °C operation. Vendor-listed applications include unmanned boats/underwater robots, AGVs, robots and drones.

COMPONENT

IMUHigh Precision

Asensing IMU5305 Industrial 6-Axis IMU

Asensing (Guangzhou) IMU5305 is a general-purpose industrial 6-axis IMU: gyro ±500 °/s with bias instability ≤2 °/h and angular random walk ≤0.18 °/√h; accelerometer ±16 g with bias instability ≤0.035 mg. Measures 30×30×10 mm, weighs 26.2±1 g, 5±0.5 V supply ≤0.1 A, UART+PPS interface (SPI optional) — a cost-effective domestic choice for attitude estimation on robots, AGVs and unmanned platforms.

COMPONENT

IMUIndustrial grade

Asensing IMU5134 Automotive IMU (ISO 26262 ASIL-B)

Asensing (Guangzhou) IMU5134 is an automotive-grade 6-axis IMU certified to ISO 26262 ASIL-B functional safety: gyro ±500 °/s with bias instability ≤1.2 °/h, angular random walk ≤0.14 °/√h and 200 Hz output; accelerometer ±16 g with bias instability ≤0.04 mg and operating bias ≤0.45 mg. Measures 22.4×22.4×8.8 mm, weighs 14±1 g, 5±0.5 V supply ≤0.5 A, UART+PPS interface — suited to automotive GNSS/INS positioning and service-robot platforms with functional-safety requirements.

COMPONENT

IMUAutomotive Grade

Asensing IMU5146 Automotive-Grade High-Precision IMU

Asensing (Guangzhou) IMU5146 is an automotive-grade high-precision 6-axis IMU: gyro ±500 °/s (±2000 °/s optional) with bias instability ≤1.2 °/h and angular random walk ≤0.14 °/√h; accelerometer ±16 g (±32 g optional) with bias instability ≤0.015 mg; roll/pitch accuracy ≤0.1° and heading accuracy ≤0.2°, with optional ±49 Gauss magnetometer. Measures 22.4×22.4×8.8 mm, weighs 14±1 g, 5 V supply ≤50 mA, UART+PPS output. Asensing is a leading domestic automotive inertial-positioning vendor; the module also fits attitude estimation on robots and robot dogs.

COMPONENT

IMUAutomotive Grade

HiPNUC HI14 High-Precision Industrial IMU

HiPNUC (Beijing) HI14 is a high-precision industrial IMU: gyro ±2000 °/s (±4000 °/s on S* high-range variants) with best S5-grade three-axis bias instability of 0.9/1.1/1.0 °/h; accelerometer ±24 g/±32 g with best bias instability of 0.0045~0.01 mg. IP68-rated housing (M12 version 59×40×20 mm, PG version 40×36×16.5 mm), wide 7~48 V supply, output at UART 1000 Hz / RS485 250 Hz / CAN 200 Hz, RoHS/CE certified — built for harsh environments such as outdoor robots, robot dogs, unmanned boats and industrial mobile platforms.

COMPONENT

IMUHigh Precision

HiPNUC HI12 Industrial 6-Axis IMU Attitude Module

HiPNUC (Beijing) HI12 is a compact industrial 6-axis IMU for robotics, officially listed on the vendor's humanoid-robot and robot-dog solution pages. Gyro ±2000 °/s with 2.5/3.2/3 °/h three-axis bias instability at H1 grade; accelerometer ±24 g with 0.021~0.032 mg bias instability; static pitch/roll accuracy 0.15~0.2°. UART output at 1000 Hz and CAN at 200 Hz, measuring only 22×22×10 mm with 3.2~5.5 V supply, 240~300 mW power and −40 to +85 °C operation — suited to attitude estimation and motion control on humanoid robots, robot dogs and small mobile platforms.

COMPONENT

IMUAttitude sensors

Bosch Sensortec BMI088 High-Performance 6-Axis IMU

Bosch Sensortec (Germany) BMI088 is a high-performance inertial measurement unit purpose-built for drones and robots, providing highly accurate orientation and motion measurement along three orthogonal axes with excellent temperature stability. Accelerometer range selectable from ±3/±6/±12/±24 g with 16-bit resolution of 0.09 mg, 175 µg/√Hz noise density and programmable 5~523 Hz bandwidth; gyro range ±125 to ±2000 °/s with 16-bit resolution of 0.004 °/s, 0.014 °/s/√Hz noise density and output data rates of 12.5 Hz to 2 kHz. Zero offset (typ. over lifetime) is ±20 mg (accel) and ±1 °/s (gyro) with TCO of ±0.2 mg/K and ±0.015 °/s/K respectively. SPI/I²C interfaces, 2.4~3.6 V supply at 5.15 mA full-operation current, −40 to +85 °C — a classic choice for flight/attitude control on racing drones, robot dogs and humanoid robots.

COMPONENT

IMUSix-axis

TDK InvenSense ICM-42688-P High-Performance 6-Axis IMU

TDK InvenSense ICM-42688-P is the flagship 6-axis SmartIndustrial™ MotionTracking MEMS device for robotics and high-performance IoT, combining a 3-axis gyro and 3-axis accelerometer. Gyro noise is only 2.8 mdps/√Hz and accelerometer noise 70 µg/√Hz, with 6-axis current as low as 0.88 mA in low-noise mode; gyro full scale is selectable from ±15.6 to ±2000 dps and accelerometer from ±2 to ±16 g, with user-programmable digital filters. Host interfaces include 12.5 MHz I3C, 1 MHz I²C and 24 MHz SPI in a thin 2.5 × 3 × 0.76 mm 14-pin LGA package with drop-in 6-axis footprint compatibility. Officially targeted at AR/VR/XR, robotics and high-performance IoT, it is one of the most widely used consumer/industrial IMUs for joint and body attitude sensing on humanoid robots and robot dogs.

COMPONENT

IMUSix-axis

Safran STIM300 Tactical-Grade High-Performance MEMS IMU

Safran Navigation & Timing (formerly Sensonor, Norway) STIM300 is a small, lightweight, high-performance non-GPS-aided tactical-grade MEMS IMU containing 3 highly accurate MEMS gyros, 3 high-stability accelerometers and 3 inclinometers, factory calibrated and temperature compensated. Gyro full scale ±400 °/s (output capped at ±480 °/s) with 262 Hz bandwidth and up to 2000 samples/s; 0.3 °/h bias instability and 0.15 °/√h angular random walk (Allan variance, 25 °C), 3 °/h drift-rate stability over temperature; the ±10 g accelerometer shows 0.04 mg bias instability and 0.07 m/s/√h velocity random walk; axis misalignment is just 1 mrad. Single +5 V supply at 1.5~2 W, RS422 interface, 55 g mass, ITAR-free — a cost-effective FOG-class alternative for precision navigation on humanoid robots, robot dogs, unmanned systems and stabilization platforms.

COMPONENT

IMUTactical grade

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