{"id":454,"date":"2025-07-10T10:43:28","date_gmt":"2025-07-10T01:43:28","guid":{"rendered":"https:\/\/robolease.disr-inc.com\/?p=454"},"modified":"2025-07-10T10:43:28","modified_gmt":"2025-07-10T01:43:28","slug":"unitree-g1%e3%81%ae%e6%80%a7%e8%83%bd%e8%ab%b8%e5%85%83","status":"publish","type":"post","link":"https:\/\/robolease.disr-inc.com\/?p=454","title":{"rendered":"Unitree G1\u306e\u6027\u80fd\u8af8\u5143"},"content":{"rendered":"\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_74 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">\u76ee\u6b21<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span 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href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#G1%E3%81%AE%E6%A6%82%E8%A6%81\" >G1\u306e\u6982\u8981<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#G1-Edu%E3%81%AE%E6%A6%82%E8%A6%81\" >G1-Edu\u306e\u6982\u8981<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#G1_3%E6%9C%AC%E6%8C%87%E3%81%AE%E5%99%A8%E7%94%A8%E3%81%AA%E6%89%8B\" >G1 3\u672c\u6307\u306e\u5668\u7528\u306a\u624b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#G1_5%E6%9C%AC%E6%8C%87%E3%81%AE%E5%99%A8%E7%94%A8%E3%81%AA%E6%89%8B\" >G1 5\u672c\u6307\u306e\u5668\u7528\u306a\u624b<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#G1%E3%83%AC%E3%83%BC%E3%83%80%E3%83%BC%E3%81%A8%E3%82%AB%E3%83%A1%E3%83%A9%E3%81%AE%E8%A6%96%E9%87%8E%E8%A7%92\" >G1\u30ec\u30fc\u30c0\u30fc\u3068\u30ab\u30e1\u30e9\u306e\u8996\u91ce\u89d2<\/a><ul class='ez-toc-list-level-2' ><li class='ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#LIVOX-MID360_%E3%83%AC%E3%83%BC%E3%82%B6%E3%83%BC%E3%83%AC%E3%83%BC%E3%83%80%E3%83%BC\" >LIVOX-MID360 \u30ec\u30fc\u30b6\u30fc\u30ec\u30fc\u30c0\u30fc<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#D435i_%E3%83%87%E3%83%97%E3%82%B9%E3%82%AB%E3%83%A1%E3%83%A9\" >D435i \u30c7\u30d7\u30b9\u30ab\u30e1\u30e9<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#MID360%E3%81%A8D435i%E3%82%92%E7%B5%84%E3%81%BF%E5%90%88%E3%82%8F%E3%81%9B%E3%81%9F%E8%A6%96%E9%87%8E%E8%A7%92\" >MID360\u3068D435i\u3092\u7d44\u307f\u5408\u308f\u305b\u305f\u8996\u91ce\u89d2<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#G1%E5%8F%96%E3%82%8A%E4%BB%98%E3%81%91%E7%A9%B4\" >G1\u53d6\u308a\u4ed8\u3051\u7a74<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#G1%E9%9B%BB%E6%B0%97%E3%82%A4%E3%83%B3%E3%82%BF%E3%83%BC%E3%83%95%E3%82%A7%E3%83%BC%E3%82%B9\" >G1\u96fb\u6c17\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9<\/a><ul class='ez-toc-list-level-2' ><li class='ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#GPIO%E3%81%AE%E8%A9%B3%E7%B4%B0\" >GPIO\u306e\u8a73\u7d30<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#G1%E3%82%AA%E3%83%B3%E3%83%9C%E3%83%BC%E3%83%89%E3%82%B3%E3%83%B3%E3%83%94%E3%83%A5%E3%83%BC%E3%82%BF%E3%83%BC\" >G1\u30aa\u30f3\u30dc\u30fc\u30c9\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fc<\/a><ul class='ez-toc-list-level-2' ><li class='ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-13\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#%E9%96%8B%E7%99%BA%E3%82%B3%E3%83%B3%E3%83%94%E3%83%A5%E3%83%BC%E3%83%86%E3%82%A3%E3%83%B3%E3%82%B0%E3%83%A6%E3%83%8B%E3%83%83%E3%83%88%EF%BC%88PC_2%EF%BC%89\" >\u958b\u767a\u30b3\u30f3\u30d4\u30e5\u30fc\u30c6\u30a3\u30f3\u30b0\u30e6\u30cb\u30c3\u30c8\uff08PC 2\uff09<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-14\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#G1%E3%82%B8%E3%83%A7%E3%82%A4%E3%83%B3%E3%83%88%E3%83%A2%E3%83%BC%E3%82%BF%E3%83%BC\" >G1\u30b8\u30e7\u30a4\u30f3\u30c8\u30e2\u30fc\u30bf\u30fc<\/a><ul class='ez-toc-list-level-2' ><li class='ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-15\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#%E5%85%B1%E5%90%8C%E3%82%B7%E3%83%AA%E3%82%A2%E3%83%AB%E7%95%AA%E5%8F%B7%E3%81%A8%E5%88%B6%E9%99%90\" >\u5171\u540c\u30b7\u30ea\u30a2\u30eb\u756a\u53f7\u3068\u5236\u9650<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-16\" href=\"https:\/\/robolease.disr-inc.com\/?p=454\/#%E5%8F%82%E7%85%A7%E3%83%95%E3%83%AC%E3%83%BC%E3%83%A0%E3%80%81%E9%96%A2%E7%AF%80%E8%BB%B8%E3%80%81%E3%82%BC%E3%83%AD%E4%BD%8D%E7%BD%AE\" >\u53c2\u7167\u30d5\u30ec\u30fc\u30e0\u3001\u95a2\u7bc0\u8ef8\u3001\u30bc\u30ed\u4f4d\u7f6e<\/a><\/li><\/ul><\/li><\/ul><\/nav><\/div>\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"G1%E3%81%AE%E6%A6%82%E8%A6%81\"><\/span>G1\u306e\u6982\u8981<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<figure class=\"wp-block-image\"><a class=\"mbsrounded reference internal image-reference\" href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_says_hi.webp\"><img decoding=\"async\" src=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_says_hi.webp\" alt=\"G1\u30ed\u30dc\u30c3\u30c8\"\/><\/a><\/figure>\n\n\n\n<p>G1\u30ed\u30dc\u30c3\u30c8\u306f\u4e0a\u534a\u8eab\u3068\u4e0b\u534a\u8eab\u306b\u5206\u304b\u308c\u3066\u304a\u308a\u3001\u305d\u308c\u305e\u308c\u306b\u8907\u6570\u306e\u81ea\u7531\u5ea6\u304c\u5099\u308f\u3063\u3066\u3044\u307e\u3059\u3002\u7247\u8155\u306f\u80a9\u95a2\u7bc0\u3001\u4e0a\u8155\u95a2\u7bc0\u3001\u8098\u95a2\u7bc0\u3092\u542b\u30805\u81ea\u7531\u5ea6\u3001\u7247\u811a\u306f\u80a1\u95a2\u7bc0\u3001\u811a\u95a2\u7bc0\u3001\u819d\u95a2\u7bc0\u3001\u8db3\u9996\u95a2\u7bc0\u3092\u542b\u30806\u81ea\u7531\u5ea6\u3067\u3059\u3002\u8170\u90e8\u306b\u306f\u8170\u690e\u95a2\u7bc0\u3092\u542b\u30801\u81ea\u7531\u5ea6\u304c\u8a2d\u3051\u3089\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>G1 \u30d9\u30fc\u30b7\u30c3\u30af \u30d0\u30fc\u30b8\u30e7\u30f3\u306f\u5408\u8a08 23 \u306e\u81ea\u7531\u5ea6\u3092\u63d0\u4f9b\u3057\u3001\u30b8\u30e7\u30a4\u30f3\u30c8 \u30e2\u30fc\u30bf\u30fc\u306b\u3088\u308b\u6b63\u78ba\u306a\u52d5\u4f5c\u3068\u59ff\u52e2\u306e\u5236\u5fa1\u3092\u53ef\u80fd\u306b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><a class=\"mbsrounded reference internal image-reference\" href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_component_overview.png\"><img decoding=\"async\" src=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_component_overview.png\" alt=\"H1\u30ed\u30dc\u30c3\u30c8\"\/><\/a><\/figure>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"G1-Edu%E3%81%AE%E6%A6%82%E8%A6%81\"><\/span>G1-Edu\u306e\u6982\u8981<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>G1-EDU\u30d0\u30fc\u30b8\u30e7\u30f3\u306fG1\u30d9\u30fc\u30b7\u30c3\u30af\u30e2\u30c7\u30eb\u3092\u30d9\u30fc\u30b9\u306b\u3001\u6559\u80b2\u30fb\u7814\u7a76\u7528\u9014\u5411\u3051\u306b\u6a5f\u80fd\u3092\u62e1\u5f35\u3057\u3066\u3044\u307e\u3059\u3002\u57fa\u672c\u69cb\u6210\u306fG1\u3068\u540c\u3058\u3067\u3059\u304c\u3001\u81ea\u7531\u5ea6\u3092\u9ad8\u3081\u308b\u30aa\u30d7\u30b7\u30e7\u30f3\u3082\u542b\u307e\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u30aa\u30d7\u30b7\u30e7\u30f3\u306e\u30a2\u30c3\u30d7\u30b0\u30ec\u30fc\u30c9\u306b\u306f\u30017\u81ea\u7531\u5ea6\u30682\u81ea\u7531\u5ea6\u306e\u624b\u9996\u3092\u5099\u3048\u305f\u5668\u7528\u306a\u30cf\u30f3\u30c9\u304c\u542b\u307e\u308c\u3066\u304a\u308a\u3001\u64cd\u4f5c\u80fd\u529b\u304c\u5411\u4e0a\u3057\u307e\u3059\u3002\u307e\u305f\u3001\u8170\u90e8\u30822\u81ea\u7531\u5ea6\u3092\u8ffd\u52a0\u3059\u308b\u3053\u3068\u3067\u67d4\u8edf\u6027\u3092\u9ad8\u3081\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u69cb\u6210\u306b\u3088\u3063\u3066\u306f\u3001G1-EDU\u306f\u6700\u592743\u81ea\u7531\u5ea6\u307e\u3067\u64cd\u4f5c\u3067\u304d\u308b\u305f\u3081\u3001\u8907\u96d1\u306a\u30bf\u30b9\u30af\u306b\u3082\u5bfe\u5fdc\u3067\u304d\u308b\u9ad8\u3044\u6c4e\u7528\u6027\u3092\u5099\u3048\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><a class=\"mbsrounded reference internal image-reference\" href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_edu_component_overview.png\"><img decoding=\"async\" src=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_edu_component_overview.png\" alt=\"H1\u30ed\u30dc\u30c3\u30c8\"\/><\/a><\/figure>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"G1_3%E6%9C%AC%E6%8C%87%E3%81%AE%E5%99%A8%E7%94%A8%E3%81%AA%E6%89%8B\"><\/span>G1 3\u672c\u6307\u306e\u5668\u7528\u306a\u624b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<figure class=\"wp-block-image is-resized\"><a class=\"mbsrounded reference internal image-reference\" href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_3finger_hand.png\"><img decoding=\"async\" src=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_3finger_hand.png\" alt=\"G1\u30ed\u30dc\u30c3\u30c8\" style=\"width:419px;height:auto\"\/><\/a><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><strong>\u30d1\u30e9\u30e1\u30fc\u30bf<\/strong><\/td><td><strong>\u4ed5\u69d8<\/strong><\/td><\/tr><tr><td><strong>\u30ec\u30f3\u30c0\u30ea\u30f3\u30b0\u753b\u50cf<\/strong><\/td><td>4<\/td><\/tr><tr><td><strong>\u52d5\u4f5c\u96fb\u5727<\/strong><\/td><td>12\uff5e58V<\/td><\/tr><tr><td><strong>\u77e5\u899a\u7bc4\u56f2<\/strong><\/td><td>10\u30b0\u30e9\u30e0 &#8211; 2500\u30b0\u30e9\u30e0<\/td><\/tr><tr><td><strong>\u81ea\u7531\u5ea6<\/strong><\/td><td>\u5408\u8a08: 7 &#8211; \u89aa\u6307: 3 \u30a2\u30af\u30c6\u30a3\u30d6\u81ea\u7531\u5ea6 &#8211; \u4eba\u5dee\u3057\u6307: 2 \u30a2\u30af\u30c6\u30a3\u30d6\u81ea\u7531\u5ea6 &#8211; \u4e2d\u6307: 2 \u30a2\u30af\u30c6\u30a3\u30d6\u81ea\u7531\u5ea6<\/td><\/tr><tr><td><strong>\u95a2\u7bc0\u89d2\u5ea6<\/strong><\/td><td>\u89aa\u6307: 0\u00b0~+100\u00b0\u3001-35\u00b0~+60\u00b0\u3001-60\u00b0~+60\u00b0 \u4eba\u5dee\u3057\u6307\u3068\u4e2d\u6307: 0\u00b0~+90\u00b0\u30010\u00b0~+100\u00b0<\/td><\/tr><tr><td><strong>\u30a2\u30ec\u30a4\u30bb\u30f3\u30b5\u30fc\u306e\u6570<\/strong><\/td><td>9<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"G1_5%E6%9C%AC%E6%8C%87%E3%81%AE%E5%99%A8%E7%94%A8%E3%81%AA%E6%89%8B\"><\/span>G1 5\u672c\u6307\u306e\u5668\u7528\u306a\u624b<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>RH56\u30b7\u30ea\u30fc\u30baInspire\u30ed\u30dc\u30c3\u30c8\u30cf\u30f3\u30c9\uff08RH56BFX\u304a\u3088\u3073RH56DFX\u30e2\u30c7\u30eb\uff09\u306f\u3001G1\u306a\u3069\u306e\u30d2\u30e5\u30fc\u30de\u30ce\u30a4\u30c9\u30ed\u30dc\u30c3\u30c8\u3068\u306e\u30b7\u30fc\u30e0\u30ec\u30b9\u306a\u7d71\u5408\u3092\u76ee\u7684\u3068\u3057\u3066\u8a2d\u8a08\u3055\u308c\u3066\u3044\u307e\u3059\u3002RS485\u901a\u4fe1\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u3092\u30b5\u30dd\u30fc\u30c8\u3057\u3001ROS\uff08Robot Operating System\uff09\u3092\u542b\u3080\u4e00\u822c\u7684\u306a\u30ed\u30dc\u30c3\u30c8\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u5b8c\u5168\u306a\u4e92\u63db\u6027\u304c\u3042\u308a\u307e\u3059\u3002\u7cbe\u5bc6\u306a\u5236\u5fa1\u30016\u81ea\u7531\u5ea6\u300112\u95a2\u7bc0\u8a2d\u8a08\u306b\u3088\u308a\u3001\u7cbe\u5ea6\u3068\u9069\u5fdc\u6027\u304c\u6c42\u3081\u3089\u308c\u308b\u4f5c\u696d\u306b\u9069\u3057\u305f\u9ad8\u6027\u80fd\u306a\u5668\u7528\u3055\u3092\u5b9f\u73fe\u3057\u307e\u3059\u3002RH56\u30b7\u30ea\u30fc\u30ba\u306f\u3001\u4e00\u8cab\u3057\u305f\u518d\u73fe\u7cbe\u5ea6\uff08\u00b10.20mm\uff09\u3001\u8abf\u6574\u53ef\u80fd\u306a\u30b0\u30ea\u30c3\u30d7\u529b\u3001\u67d4\u8edf\u306a\u52d5\u4f5c\u7bc4\u56f2\u306a\u3069\u306e\u6a5f\u80fd\u306b\u3088\u308a\u4fe1\u983c\u6027\u306e\u9ad8\u3044\u52d5\u4f5c\u3092\u4fdd\u8a3c\u3057\u3001\u30d2\u30e5\u30fc\u30de\u30ce\u30a4\u30c9\u30ed\u30dc\u30c3\u30c8\u3092\u306f\u3058\u3081\u3068\u3059\u308b\u9ad8\u5ea6\u306a\u30ed\u30dc\u30c3\u30c8\u30b7\u30b9\u30c6\u30e0\u306b\u6700\u9069\u3067\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><a class=\"mbsrounded reference internal image-reference\" href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/inspire_robots_dextorous_hand_wbg.png\"><img decoding=\"async\" src=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/inspire_robots_dextorous_hand_wbg.png\" alt=\"H1\u30ed\u30dc\u30c3\u30c8\"\/><\/a><\/figure>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><strong>\u30d1\u30e9\u30e1\u30fc\u30bf<\/strong><\/td><td><strong>RH56BFX\u4ed5\u69d8<\/strong><\/td><td><strong>RH56DFX\u4ed5\u69d8<\/strong><\/td><\/tr><tr><td><strong>\u5236\u5fa1\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9<\/strong><\/td><td>RS485<\/td><td>RS485<\/td><\/tr><tr><td><strong>\u81ea\u7531\u5ea6<\/strong><\/td><td>6<\/td><td>6<\/td><\/tr><tr><td><strong>\u95a2\u7bc0\u306e\u6570<\/strong><\/td><td>12<\/td><td>12<\/td><\/tr><tr><td><strong>\u91cd\u3055<\/strong><\/td><td>540\u30b0\u30e9\u30e0<\/td><td>540\u30b0\u30e9\u30e0<\/td><\/tr><tr><td><strong>\u52d5\u4f5c\u96fb\u5727<\/strong><\/td><td>DC24V\u00b110%<\/td><td>DC24V\u00b110%<\/td><\/tr><tr><td><strong>\u9759\u6b62\u96fb\u6d41<\/strong><\/td><td>0.20A<\/td><td>0.20A<\/td><\/tr><tr><td><strong>\u30d4\u30fc\u30af\u96fb\u6d41<\/strong><\/td><td>2A<\/td><td>2A<\/td><\/tr><tr><td><strong>\u518d\u73fe\u6027<\/strong><\/td><td>\u00b10.20mm<\/td><td>\u00b10.20mm<\/td><\/tr><tr><td><strong>\u6700\u5927\u306e\u89aa\u6307\u30b0\u30ea\u30c3\u30d7<\/strong><\/td><td>6N<\/td><td>15N<\/td><\/tr><tr><td><strong>\u6700\u5927\u306e\u624b\u306e\u3072\u3089\u3068\u6307\u306e\u30b0\u30ea\u30c3\u30d7<\/strong><\/td><td>4N<\/td><td>10N<\/td><\/tr><tr><td><strong>\u5f37\u5236\u89e3\u6c7a<\/strong><\/td><td>0.50N<\/td><td>0.50N<\/td><\/tr><tr><td><strong>\u89aa\u6307\u5916\u5074**\u56de\u8ee2\u7bc4\u56f2<\/strong><\/td><td>&gt; 65\u00b0<\/td><td>&gt; 65\u00b0<\/td><\/tr><tr><td><strong>\u89aa\u6307\u306e\u6a2a\u65b9\u5411**\u56de\u8ee2\u901f\u5ea6<\/strong><\/td><td>235\u00b0\/\u79d2<\/td><td>107\u00b0\/\u79d2<\/td><\/tr><tr><td><strong>\u89aa\u6307\u306e\u66f2\u3052\u901f\u5ea6<\/strong><\/td><td>150\u00b0\/\u79d2<\/td><td>70\u00b0\/\u79d2<\/td><\/tr><tr><td><strong>\u624b\u306e\u3072\u3089\u6307\u306e\u66f2\u3052\u901f\u5ea6<\/strong><\/td><td>570\u00b0\/\u79d2<\/td><td>260\u00b0\/\u79d2<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"G1%E3%83%AC%E3%83%BC%E3%83%80%E3%83%BC%E3%81%A8%E3%82%AB%E3%83%A1%E3%83%A9%E3%81%AE%E8%A6%96%E9%87%8E%E8%A7%92\"><\/span>G1\u30ec\u30fc\u30c0\u30fc\u3068\u30ab\u30e1\u30e9\u306e\u8996\u91ce\u89d2<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>G1 \u30ed\u30dc\u30c3\u30c8\u306b\u306f\u3001LIVOX-MID360 \u30ec\u30fc\u30b6\u30fc \u30ec\u30fc\u30c0\u30fc\u3084 D435i \u6df1\u5ea6\u30ab\u30e1\u30e9\u306a\u3069\u306e\u9ad8\u5ea6\u306a\u30bb\u30f3\u30b5\u30fc \u30b7\u30b9\u30c6\u30e0\u304c\u642d\u8f09\u3055\u308c\u3066\u304a\u308a\u3001\u3053\u308c\u3089\u304c\u9023\u643a\u3057\u3066\u512a\u308c\u305f\u74b0\u5883\u8a8d\u8b58\u3068\u7a7a\u9593\u8a8d\u8b58\u3092\u63d0\u4f9b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"LIVOX-MID360_%E3%83%AC%E3%83%BC%E3%82%B6%E3%83%BC%E3%83%AC%E3%83%BC%E3%83%80%E3%83%BC\"><\/span>LIVOX-MID360 \u30ec\u30fc\u30b6\u30fc\u30ec\u30fc\u30c0\u30fc<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>LIVOX-MID360\u30ec\u30fc\u30b6\u30fc\u30ec\u30fc\u30c0\u30fc\u306fG1\u30d8\u30c3\u30c9\u306b\u7d71\u5408\u3055\u308c\u3066\u304a\u308a\u3001\u5353\u8d8a\u3057\u305f\u74b0\u5883\u691c\u77e5\u80fd\u529b\u3092\u63d0\u4f9b\u3057\u307e\u3059\u3002\u3053\u306eLIDAR\u306f\u5168\u65b9\u5411\u30fb\u5168\u89d2\u30b9\u30ad\u30e3\u30f3\u6280\u8853\u3092\u63a1\u7528\u3057\u3001\u6700\u5927360\u00b0\u306e\u6c34\u5e73\u8996\u91ce\u89d2\uff08FOV\uff09\u3001\u6700\u5927\u5782\u76f4\u89d259\u00b0\u3092\u5b9f\u73fe\u3057\u307e\u3059\u3002\u3053\u308c\u3089\u306e\u6a5f\u80fd\u306b\u3088\u308a\u3001G1\u306f\u6b63\u78ba\u304b\u3064\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306e\u74b0\u5883\u30c7\u30fc\u30bf\u3092\u53d6\u5f97\u3057\u3001\u9ad8\u89e3\u50cf\u5ea6\u306e\u70b9\u7fa4\u60c5\u5831\u3092\u751f\u6210\u3057\u307e\u3059\u3002\u30b7\u30b9\u30c6\u30e0\u306f\u5468\u56f2\u306e\u7269\u4f53\u3092\u8fc5\u901f\u306b\u691c\u77e5\u30fb\u6e2c\u5b9a\u3057\u3001\u6b63\u78ba\u304b\u3064\u5305\u62ec\u7684\u306a\u7a7a\u9593\u8a8d\u8b58\u3092\u5b9f\u73fe\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\" id=\"id1\"><a class=\"mbsrounded reference internal image-reference\" href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/mid360_lidar_fov.png\"><img decoding=\"async\" src=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/mid360_lidar_fov.png\" alt=\"MID360 \u30ec\u30fc\u30b6\u30fc\u30ec\u30fc\u30c0\u30fc\u8996\u91ce\u89d2\"\/><\/a><figcaption class=\"wp-element-caption\">MID360 \u30ec\u30fc\u30b6\u30fc\u30ec\u30fc\u30c0\u30fc\u8996\u91ce\u89d2<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"D435i_%E3%83%87%E3%83%97%E3%82%B9%E3%82%AB%E3%83%A1%E3%83%A9\"><\/span>D435i \u30c7\u30d7\u30b9\u30ab\u30e1\u30e9<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>G1\u306fD435i\u6df1\u5ea6\u30ab\u30e1\u30e9\u3092\u642d\u8f09\u3057\u3001\u8996\u899a\u8a8d\u8b58\u80fd\u529b\u3092\u5f37\u5316\u3057\u3066\u3044\u307e\u3059\u3002\u3053\u306e\u30ab\u30e1\u30e9\u306b\u3088\u308a\u3001\u30ed\u30dc\u30c3\u30c8\u306f\u5468\u56f2\u306e\u74b0\u5883\u3092\u3088\u308a\u6b63\u78ba\u306b\u8a8d\u8b58\u30fb\u89e3\u91c8\u3057\u3001\u6b63\u78ba\u306a\u7a7a\u9593\u8a8d\u8b58\u3068\u969c\u5bb3\u7269\u691c\u77e5\u304c\u53ef\u80fd\u306b\u306a\u308a\u307e\u3059\u3002\u3053\u308c\u3089\u306e\u6a5f\u80fd\u306b\u3088\u308a\u3001G1\u306f\u74b0\u5883\u3068\u306e\u30a4\u30f3\u30c6\u30ea\u30b8\u30a7\u30f3\u30c8\u304b\u3064\u67d4\u8edf\u306a\u30a4\u30f3\u30bf\u30e9\u30af\u30b7\u30e7\u30f3\u3092\u5b9f\u73fe\u3057\u3001\u69d8\u3005\u306a\u30b7\u30ca\u30ea\u30aa\u306b\u52b9\u679c\u7684\u306b\u9069\u5fdc\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image is-resized\" id=\"id2\"><a class=\"mbsrounded reference internal image-reference\" href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/d435i_depth_camera_fov.png\"><img decoding=\"async\" src=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/d435i_depth_camera_fov.png\" alt=\"D435i \u6df1\u5ea6\u30ab\u30e1\u30e9\u306e\u8996\u91ce\u89d2\" style=\"width:347px;height:auto\"\/><\/a><figcaption class=\"wp-element-caption\">D435i \u6df1\u5ea6\u30ab\u30e1\u30e9\u306e\u8996\u91ce\u89d2<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"MID360%E3%81%A8D435i%E3%82%92%E7%B5%84%E3%81%BF%E5%90%88%E3%82%8F%E3%81%9B%E3%81%9F%E8%A6%96%E9%87%8E%E8%A7%92\"><\/span>MID360\u3068D435i\u3092\u7d44\u307f\u5408\u308f\u305b\u305f\u8996\u91ce\u89d2<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>LIVOX-MID360\u30ec\u30fc\u30b6\u30fc\u30ec\u30fc\u30c0\u30fc\u3068D435i\u6df1\u5ea6\u30ab\u30e1\u30e9\u306e\u7d71\u5408\u306b\u3088\u308a\u3001\u7d71\u5408\u3055\u308c\u305f\u8996\u91ce\u89d2\u304c\u5b9f\u73fe\u3057\u3001G1\u30ed\u30dc\u30c3\u30c8\u306f\u6bd4\u985e\u306e\u306a\u3044\u74b0\u5883\u8a8d\u8b58\u3068\u9069\u5fdc\u6027\u3092\u5b9f\u73fe\u3057\u307e\u3059\u3002\u3053\u308c\u3089\u306e\u30bb\u30f3\u30b5\u30fc\u3092\u7d44\u307f\u5408\u308f\u305b\u308b\u3053\u3068\u3067\u3001G1\u306f\u591a\u69d8\u306a\u30bf\u30b9\u30af\u3084\u5909\u5316\u306e\u6fc0\u3057\u3044\u74b0\u5883\u4e0b\u3067\u3082\u52b9\u679c\u7684\u306b\u52d5\u4f5c\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\" id=\"id3\"><a class=\"mbsrounded reference internal image-reference\" href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/mid360_d435i_merged_fov.png\"><img decoding=\"async\" src=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/mid360_d435i_merged_fov.png\" alt=\"MID360 + D435i \u7d71\u5408FOV\"\/><\/a><figcaption class=\"wp-element-caption\">MID360+D435i \u7d71\u5408FOV<\/figcaption><\/figure>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"G1%E5%8F%96%E3%82%8A%E4%BB%98%E3%81%91%E7%A9%B4\"><\/span>G1\u53d6\u308a\u4ed8\u3051\u7a74<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p><strong>\u5358\u4f4d\uff1amm<\/strong><\/p>\n\n\n\n<p>G1 \u53d6\u308a\u4ed8\u3051\u7a74\u3092\u5229\u7528\u3059\u308b\u306b\u306f\u3001\u53d6\u308a\u4ed8\u3051\u524d\u306b\u7a74\u3092\u8986\u3063\u3066\u3044\u308b\u30e9\u30d9\u30eb\u304c\u5265\u304c\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><a href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_installation_hole_position_front.png\"><\/a>G1 \u53d6\u308a\u4ed8\u3051\u7a74 \u30d5\u30ed\u30f3\u30c8<\/td><td><a href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_installation_hole_position_back.png\"><\/a>G1 \u53d6\u308a\u4ed8\u3051\u7a74 \u80cc\u9762<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"G1%E9%9B%BB%E6%B0%97%E3%82%A4%E3%83%B3%E3%82%BF%E3%83%BC%E3%83%95%E3%82%A7%E3%83%BC%E3%82%B9\"><\/span>G1\u96fb\u6c17\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p><strong>G1\u30ed\u30dc\u30c3\u30c8\u306e\u9996<\/strong>\u306e\u5f8c\u308d\u306b\u306f\u3001\u30dc\u30c7\u30a3\u30b8\u30e7\u30a4\u30f3\u30c8\u30e2\u30fc\u30bf\u30fc\u3001\u30bb\u30f3\u30b5\u30fc\u5468\u8fba\u6a5f\u5668\u3001\u30cd\u30c3\u30c8\u30ef\u30fc\u30af\u30dd\u30fc\u30c8\u306a\u3069\u3092\u63a5\u7d9a\u3059\u308b\u305f\u3081\u306e\u69d8\u3005\u306a\u96fb\u6c17\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u304c\u88c5\u5099\u3055\u308c\u3066\u3044\u307e\u3059\u3002\u3053\u306e\u8a2d\u8a08\u306b\u3088\u308a\u3001\u30c7\u30d0\u30c3\u30b0\u3001\u30c8\u30e9\u30d6\u30eb\u30b7\u30e5\u30fc\u30c6\u30a3\u30f3\u30b0\u3001\u4e8c\u6b21\u958b\u767a\u304c\u7c21\u7d20\u5316\u3055\u308c\u3001\u30b7\u30b9\u30c6\u30e0\u306e\u6c4e\u7528\u6027\u3068\u4f7f\u3044\u3084\u3059\u3055\u304c\u5411\u4e0a\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\" id=\"id6\"><a class=\"mbsrounded reference internal image-reference\" href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_interface.jpg\"><img decoding=\"async\" src=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_interface.jpg\" alt=\"G1\u96fb\u6c17\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u306e\u4e0a\u9762\u56f3\"\/><\/a><figcaption class=\"wp-element-caption\">G1\u96fb\u6c17\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u306e\u4e0a\u9762\u56f3<\/figcaption><\/figure>\n\n\n\n<p>\u4ee5\u4e0b\u306b\u30b3\u30cd\u30af\u30bf\u3068\u305d\u308c\u305e\u308c\u306e\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u4ed5\u69d8\u3092\u8aac\u660e\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u3044\u3044\u3048<\/th><th>\u30b3\u30cd\u30af\u30bf\u540d<\/th><th>\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u306e\u8aac\u660e\uff08\u8981\u7d04\uff09<\/th><th>\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\u4ed5\u69d8<\/th><\/tr><\/thead><tbody><tr><td>1<\/td><td>XT30UPB-F<\/td><td>VBAT<\/td><td>\u30d0\u30c3\u30c6\u30ea\u30fc\u96fb\u6e90\u51fa\u529b\uff08\u30d0\u30c3\u30c6\u30ea\u30fc\u3078\u306e\u76f4\u63a5\u63a5\u7d9a\uff09<\/td><\/tr><tr><td>2<\/td><td>XT30UPB-F<\/td><td>24V<\/td><td>24V\/5A\u96fb\u6e90\u51fa\u529b<\/td><\/tr><tr><td>3<\/td><td>XT30UPB-F<\/td><td>12V<\/td><td>12V\/5A\u96fb\u6e90\u51fa\u529b<\/td><\/tr><tr><td>4<\/td><td>RJ45<\/td><td>1000BASE-T<\/td><td>\u30ae\u30ac\u30d3\u30c3\u30c8\u30a4\u30fc\u30b5\u30cd\u30c3\u30c8 (GbE)<\/td><\/tr><tr><td>5<\/td><td>RJ45<\/td><td>1000BASE-T<\/td><td>\u30ae\u30ac\u30d3\u30c3\u30c8\u30a4\u30fc\u30b5\u30cd\u30c3\u30c8 (GbE)<\/td><\/tr><tr><td>6<\/td><td>\u30bf\u30a4\u30d7C<\/td><td>\u30bf\u30a4\u30d7C<\/td><td>USB3.0\u30db\u30b9\u30c8\u30015V\/1.5A\u96fb\u6e90\u51fa\u529b\u3092\u30b5\u30dd\u30fc\u30c8<\/td><\/tr><tr><td>7<\/td><td>\u30bf\u30a4\u30d7C<\/td><td>\u30bf\u30a4\u30d7C<\/td><td>USB3.0\u30db\u30b9\u30c8\u30015V\/1.5A\u96fb\u6e90\u51fa\u529b\u3092\u30b5\u30dd\u30fc\u30c8<\/td><\/tr><tr><td>8<\/td><td>\u30bf\u30a4\u30d7C<\/td><td>\u30bf\u30a4\u30d7C<\/td><td>USB3.0\u30db\u30b9\u30c8\u30015V\/1.5A\u96fb\u6e90\u51fa\u529b\u3092\u30b5\u30dd\u30fc\u30c8<\/td><\/tr><tr><td>9<\/td><td>\u30bf\u30a4\u30d7C<\/td><td>\u30aa\u30eb\u30bf\u30cd\u30fc\u30c8\u30e2\u30fc\u30c9\u30bf\u30a4\u30d7C<\/td><td>USB3.2\u30db\u30b9\u30c8\u3068DP1.4\u3092\u30b5\u30dd\u30fc\u30c8<\/td><\/tr><tr><td>10<\/td><td>5577<\/td><td>I\/O\u51fa\u529b<\/td><td>12V\/3A\u96fb\u6e90\u51fa\u529b<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"GPIO%E3%81%AE%E8%A9%B3%E7%B4%B0\"><\/span>GPIO\u306e\u8a73\u7d30<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<figure class=\"wp-block-image\" id=\"id7\"><a class=\"mbsrounded reference internal image-reference\" href=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_gpio_interface.jpg\"><img decoding=\"async\" src=\"https:\/\/www.docs.quadruped.de\/projects\/g1\/html\/_images\/g1_gpio_interface.jpg\" alt=\"G1 RJ45\u3068IO\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9\"\/><\/a><figcaption class=\"wp-element-caption\">G1 RJ45\u3068IO\u30a4\u30f3\u30bf\u30fc\u30d5\u30a7\u30fc\u30b9<\/figcaption><\/figure>\n\n\n\n<p>GPIO \u69cb\u6210\u306b\u3064\u3044\u3066\u306f\u6b21\u306e\u8868\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>GPIO\u756a\u53f7<\/th><th>NX\u30d4\u30f3\u756a\u53f7<\/th><th>\u591a\u91cd\u5316\u95a2\u4fc2<\/th><th>Debugfs \u30d5\u30a1\u30a4\u30eb\u30b7\u30b9\u30c6\u30e0\u306e\u30d4\u30f3\u540d<\/th><\/tr><\/thead><tbody><tr><td>GPIO1<\/td><td>203<\/td><td>UART1_TXD<\/td><td>GPIO3_PR.02<\/td><\/tr><tr><td>GPIO2<\/td><td>205<\/td><td>UART1_RXD<\/td><td>GPIO3_PR.03<\/td><\/tr><tr><td>GPIO3<\/td><td>232<\/td><td>I2C2_SCL<\/td><td>GPIO3_PI.03<\/td><\/tr><tr><td>GPIO4<\/td><td>234<\/td><td>I2C2_SDA<\/td><td>GPIO3_PI.04<\/td><\/tr><tr><td>GPIO5<\/td><td>128<\/td><td>GPIO<\/td><td>GPIO3_PCC.02<\/td><\/tr><tr><td>GPIO6<\/td><td>130<\/td><td>GPIO<\/td><td>GPIO3_PCC.03<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u6ce8\u8a18<\/p>\n\n\n\n<p>NVIDIA GPIO\u64cd\u4f5c\u306f\u69d8\u3005\u306a\u65b9\u6cd5\u3067\u5b9f\u884c\u3067\u304d\u307e\u3059\u3002NVIDIA GPIO\u306e\u5b9a\u7fa9\u3068\u4f7f\u7528\u65b9\u6cd5\u306e\u8a73\u7d30\u306b\u3064\u3044\u3066\u306f\u3001\u4ee5\u4e0b\u306e\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\uff1a&nbsp;<a href=\"https:\/\/docs.nvidia.com\/jetson\/archives\/r35.2.1\/DeveloperGuide\/text\/HR\/JetsonModuleAdaptationAndBringUp\/JetsonOrinNxSeries.html#identifying-the-gpio-number\">NVIDIA Jetson\u958b\u767a\u8005\u30ac\u30a4\u30c9<\/a>\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"G1%E3%82%AA%E3%83%B3%E3%83%9C%E3%83%BC%E3%83%89%E3%82%B3%E3%83%B3%E3%83%94%E3%83%A5%E3%83%BC%E3%82%BF%E3%83%BC\"><\/span>G1\u30aa\u30f3\u30dc\u30fc\u30c9\u30b3\u30f3\u30d4\u30e5\u30fc\u30bf\u30fc<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>G1-EDU \u30aa\u30f3\u30dc\u30fc\u30c9 \u30b7\u30b9\u30c6\u30e0\u306b\u306f\u3001\u6a19\u6e96\u64cd\u4f5c\u5236\u5fa1\u30b3\u30f3\u30d4\u30e5\u30fc\u30c6\u30a3\u30f3\u30b0 \u30e6\u30cb\u30c3\u30c8 1 \u53f0\u3068\u958b\u767a\u30b3\u30f3\u30d4\u30e5\u30fc\u30c6\u30a3\u30f3\u30b0 \u30e6\u30cb\u30c3\u30c8 1 \u53f0\u304c\u642d\u8f09\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E9%96%8B%E7%99%BA%E3%82%B3%E3%83%B3%E3%83%94%E3%83%A5%E3%83%BC%E3%83%86%E3%82%A3%E3%83%B3%E3%82%B0%E3%83%A6%E3%83%8B%E3%83%83%E3%83%88%EF%BC%88PC_2%EF%BC%89\"><\/span>\u958b\u767a\u30b3\u30f3\u30d4\u30e5\u30fc\u30c6\u30a3\u30f3\u30b0\u30e6\u30cb\u30c3\u30c8\uff08PC 2\uff09<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td><strong>\u30d1\u30e9\u30e1\u30fc\u30bf<\/strong><\/td><td><strong>\u4ed5\u69d8<\/strong><\/td><\/tr><tr><td><strong>\u30e2\u30c7\u30eb<\/strong><\/td><td>\u30b8\u30a7\u30c3\u30c8\u30bd\u30f3 \u30aa\u30ea\u30f3 NX<\/td><\/tr><tr><td><strong>CPU<\/strong><\/td><td>Arm\u00ae Cortex\u00ae-A78AE<\/td><\/tr><tr><td><strong>\u30b3\u30a2\u6570<\/strong><\/td><td>8<\/td><\/tr><tr><td><strong>\u30b9\u30ec\u30c3\u30c9\u6570<\/strong><\/td><td>8<\/td><\/tr><tr><td><strong>\u6700\u5927\u30af\u30ed\u30c3\u30af\u901f\u5ea6<\/strong><\/td><td>2GHz<\/td><\/tr><tr><td><strong>\u30b0\u30e9\u30d5\u30a3\u30c3\u30af\u30b9\u30e1\u30e2\u30ea<\/strong><\/td><td>16\u30ae\u30ac\u30d0\u30a4\u30c8<\/td><\/tr><tr><td><strong>\u5408\u8a08\u30e1\u30e2\u30ea<\/strong><\/td><td>16\u30ae\u30ac\u30d0\u30a4\u30c8<\/td><\/tr><tr><td><strong>\u30ad\u30e3\u30c3\u30b7\u30e5<\/strong><\/td><td>2 MB L2 + 4 MB L3<\/td><\/tr><tr><td><strong>\u30b9\u30c8\u30ec\u30fc\u30b8<\/strong><\/td><td>2TB<\/td><\/tr><tr><td><strong>\u30a4\u30f3\u30c6\u30eb\u00ae \u30a4\u30e1\u30fc\u30b8 \u30d7\u30ed\u30bb\u30c3\u30b7\u30f3\u30b0 \u30e6\u30cb\u30c3\u30c8<\/strong><\/td><td>\u51fa\u5e2d\u306a\u3057<\/td><\/tr><tr><td><strong>\u30b0\u30e9\u30d5\u30a3\u30c3\u30af\u30d7\u30ed\u30bb\u30c3\u30b5<\/strong><\/td><td>32 \u500b\u306e Tensor \u30b3\u30a2\u3092\u642d\u8f09\u3057\u305f 1024 \u500b\u306e NVIDIA Ampere \u30a2\u30fc\u30ad\u30c6\u30af\u30c1\u30e3 GPU<\/td><\/tr><tr><td><strong>\u6700\u5927GPU\u5468\u6ce2\u6570<\/strong><\/td><td>918MHz<\/td><\/tr><tr><td><strong>\u30ac\u30a6\u30b9\u304a\u3088\u3073\u30cb\u30e5\u30fc\u30e9\u30eb\u30a2\u30af\u30bb\u30e9\u30ec\u30fc\u30bf<\/strong><\/td><td>3.0<\/td><\/tr><tr><td><strong>\u30a4\u30f3\u30c6\u30eb\u00ae \u30c7\u30a3\u30fc\u30d7\u30e9\u30fc\u30cb\u30f3\u30b0\u30d6\u30fc\u30b9\u30c8<\/strong><\/td><td>\u306f\u3044<\/td><\/tr><tr><td><strong>\u30a4\u30f3\u30c6\u30eb\u00ae Adaptix\u2122 \u30c6\u30af\u30ce\u30ed\u30b8\u30fc<\/strong><\/td><td>\u306f\u3044<\/td><\/tr><tr><td><strong>\u30a4\u30f3\u30c6\u30eb\u00ae \u30cf\u30a4\u30d1\u30fc\u30b9\u30ec\u30c3\u30c7\u30a3\u30f3\u30b0\u30fb\u30c6\u30af\u30ce\u30ed\u30b8\u30fc<\/strong><\/td><td>\u306f\u3044<\/td><\/tr><tr><td><strong>\u547d\u4ee4\u30bb\u30c3\u30c8<\/strong><\/td><td>64\u30d3\u30c3\u30c8<\/td><\/tr><tr><td><strong>\u30aa\u30fc\u30d7\u30f3GL<\/strong><\/td><td>4.6<\/td><\/tr><tr><td><strong>\u30aa\u30fc\u30d7\u30f3CL<\/strong><\/td><td>3.0<\/td><\/tr><tr><td><strong>\u30c0\u30a4\u30ec\u30af\u30c8X<\/strong><\/td><td>12.1<\/td><\/tr><tr><td><strong>IP\u30a2\u30c9\u30ec\u30b9<\/strong><\/td><td>192.168.123.164<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>\u6ce8\u610f<\/p>\n\n\n\n<p><strong>\u64cd\u4f5c\u30fb\u5236\u5fa1\u30b3\u30f3\u30d4\u30e5\u30fc\u30c6\u30a3\u30f3\u30b0\u30e6\u30cb\u30c3\u30c8<\/strong>\u306fUnitree\u30e2\u30fc\u30b7\u30e7\u30f3\u5236\u5fa1\u30d7\u30ed\u30b0\u30e9\u30e0\u5c02\u7528\u3067\u3042\u308a\u3001\u4e00\u822c\u516c\u958b\u306f\u3067\u304d\u307e\u305b\u3093\u3002\u958b\u767a\u8005\u306f<strong>\u958b\u767a\u30b3\u30f3\u30d4\u30e5\u30fc\u30c6\u30a3\u30f3\u30b0\u30e6\u30cb\u30c3\u30c8\u3092<\/strong>\u4e8c\u6b21\u958b\u767a\u76ee\u7684\u306b\u306e\u307f\u5229\u7528\u3067\u304d\u307e\u3059\u3002\u521d\u671f\u30e6\u30fc\u30b6\u30fc\u30d1\u30b9\u30ef\u30fc\u30c9\u306b\u3064\u3044\u3066\u306f\u3001FAQ\u3092\u3054\u89a7\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<p>\u8868\u3067\u306f\u3001<strong>PC2 [\u958b\u767a\u30b3\u30f3\u30d4\u30e5\u30fc\u30c6\u30a3\u30f3\u30b0 \u30e6\u30cb\u30c3\u30c8]<\/strong>\u306b IP \u30a2\u30c9\u30ec\u30b9<strong>192.168.123.164<\/strong>\u304c\u5272\u308a\u5f53\u3066\u3089\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>CPU \u30e2\u30b8\u30e5\u30fc\u30eb\u306f\u3088\u308a\u9ad8\u5ea6\u306a\u30d0\u30fc\u30b8\u30e7\u30f3\u3067\u51fa\u8377\u3055\u308c\u308b\u5834\u5408\u3082\u3042\u308a\u307e\u3059\u304c\u3001\u30d1\u30d5\u30a9\u30fc\u30de\u30f3\u30b9\u306f\u4e0a\u8a18\u306e\u4ed5\u69d8\u3092\u6e80\u305f\u3059\u304b\u4e0a\u56de\u308a\u307e\u3059\u306e\u3067\u3054\u6ce8\u610f\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<h1 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"G1%E3%82%B8%E3%83%A7%E3%82%A4%E3%83%B3%E3%83%88%E3%83%A2%E3%83%BC%E3%82%BF%E3%83%BC\"><\/span>G1\u30b8\u30e7\u30a4\u30f3\u30c8\u30e2\u30fc\u30bf\u30fc<span class=\"ez-toc-section-end\"><\/span><\/h1>\n\n\n\n<p>G1<strong>\u95a2\u7bc0\u30e2\u30fc\u30bf\u30fc<\/strong>\u306b\u306f\u3001\u512a\u308c\u305f\u6027\u80fd\u3068\u7279\u6027\u3092\u6709\u3059\u308b\u81ea\u793e\u958b\u767a\u306eUnitree\u30e2\u30fc\u30bf\u30fc\u3092\u63a1\u7528\u3057\u3066\u3044\u307e\u3059\u3002\u6700\u5927\u30c8\u30eb\u30af\u306f120N\u00b7m\u3067\u3001\u4e2d\u7a7a\u8ef8\u8a2d\u8a08\u3092\u63a1\u7528\u3059\u308b\u3053\u3068\u3067\u3001\u69cb\u9020\u306e\u5c0f\u578b\u5316\u3068\u8efd\u91cf\u5316\u306b\u8ca2\u732e\u3057\u3066\u3044\u307e\u3059\u3002\u3055\u3089\u306b\u3001\u30c7\u30e5\u30a2\u30eb\u30a8\u30f3\u30b3\u30fc\u30c0\u3092\u642d\u8f09\u3057\u3001\u9ad8\u7cbe\u5ea6\u306a\u5236\u5fa1\u306b\u4e0d\u53ef\u6b20\u306a\u6b63\u78ba\u306a\u4f4d\u7f6e\u3068\u901f\u5ea6\u306e\u30d5\u30a3\u30fc\u30c9\u30d0\u30c3\u30af\u3092\u5b9f\u73fe\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%85%B1%E5%90%8C%E3%82%B7%E3%83%AA%E3%82%A2%E3%83%AB%E7%95%AA%E5%8F%B7%E3%81%A8%E5%88%B6%E9%99%90\"><\/span>\u5171\u540c\u30b7\u30ea\u30a2\u30eb\u756a\u53f7\u3068\u5236\u9650<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u6b21\u306e\u8868\u306f\u3001\u30b8\u30e7\u30a4\u30f3\u30c8 \u30a4\u30f3\u30c7\u30c3\u30af\u30b9\u3001\u540d\u524d\u3001\u304a\u3088\u3073\u305d\u308c\u305e\u308c\u306e\u30b8\u30e7\u30a4\u30f3\u30c8\u5236\u9650\u3092\u30e9\u30b8\u30a2\u30f3\u3067\u793a\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><tbody><tr><td>\u7d22\u5f15<\/td><td>\u5171\u540c\u540d\u7fa9<\/td><td>\u9650\u754c\uff08\u30e9\u30b8\u30a2\u30f3\uff09<\/td><\/tr><tr><td>0<\/td><td>L_LEG_HIP_PITCH<\/td><td>-2.5307 ~ 2.8798<\/td><\/tr><tr><td>1<\/td><td>L_LEG_HIP_ROLL<\/td><td>-0.5236 ~ 2.9671<\/td><\/tr><tr><td>2<\/td><td>L_LEG_HIP_YAW<\/td><td>-2.7576 ~ 2.7576<\/td><\/tr><tr><td>3<\/td><td>\u5de6\u8db3\u819d<\/td><td>-0.087267 ~ 2.8798<\/td><\/tr><tr><td>4<\/td><td>L_LEG_ANKLE_PITCH<\/td><td>-0.87267 ~ 0.5236<\/td><\/tr><tr><td>5<\/td><td>\u8db3\u9996\u30ed\u30fc\u30eb<\/td><td>-0.2618 ~ 0.2618<\/td><\/tr><tr><td>6<\/td><td>R_LEG_HIP_PITCH<\/td><td>-2.5307 ~ 2.8798<\/td><\/tr><tr><td>7<\/td><td>R_LEG_HIP_ROLL<\/td><td>-2.9671 ~ 0.5236<\/td><\/tr><tr><td>8<\/td><td>R_LEG_HIP_YAW<\/td><td>-2.7576 ~ 2.7576<\/td><\/tr><tr><td>9<\/td><td>\u53f3\u8db3\u819d<\/td><td>-0.087267 ~ 2.8798<\/td><\/tr><tr><td>10<\/td><td>R_LEG_ANKLE_PITCH<\/td><td>-0.87267 ~ 0.5236<\/td><\/tr><tr><td>11<\/td><td>R_LEG_ANKLE_ROLL<\/td><td>-0.2618 ~ 0.2618<\/td><\/tr><tr><td>12<\/td><td>\u30a6\u30a8\u30b9\u30c8\u30e8\u30fc<\/td><td>-2.618 ~ 2.618<\/td><\/tr><tr><td>13<\/td><td>\u30a6\u30a8\u30b9\u30c8\u30ed\u30fc\u30eb<\/td><td>-0.52 ~ 0.52<\/td><\/tr><tr><td>14<\/td><td>\u30a6\u30a8\u30b9\u30c8\u30d4\u30c3\u30c1<\/td><td>-0.52 ~ 0.52<\/td><\/tr><tr><td>15<\/td><td>L_\u30b7\u30e7\u30eb\u30c0\u30fc\u30d4\u30c3\u30c1<\/td><td>-3.0892 ~ 2.6704<\/td><\/tr><tr><td>16<\/td><td>L_\u30b7\u30e7\u30eb\u30c0\u30fc\u30ed\u30fc\u30eb<\/td><td>-1.5882 ~ 2.2515<\/td><\/tr><tr><td>17<\/td><td>L_\u80a9\u306e\u30e8\u30fc<\/td><td>-2.618 ~ 2.618<\/td><\/tr><tr><td>18<\/td><td>\u5de6\u8098<\/td><td>-1.0472 ~ 2.0944<\/td><\/tr><tr><td>19<\/td><td>L_WRIST_ROLL<\/td><td>-1.9722 ~ 1.9722<\/td><\/tr><tr><td>20<\/td><td>L_WRIST_PITCH<\/td><td>-1.6144 ~ 1.6144<\/td><\/tr><tr><td>21<\/td><td>L_WRIST_YAW<\/td><td>-1.6144 ~ 1.6144<\/td><\/tr><tr><td>22<\/td><td>R_\u30b7\u30e7\u30eb\u30c0\u30fc\u30d4\u30c3\u30c1<\/td><td>-3.0892 ~ 2.6704<\/td><\/tr><tr><td>23<\/td><td>R_\u30b7\u30e7\u30eb\u30c0\u30fc\u30ed\u30fc\u30eb<\/td><td>-2.2515 ~ 1.5882<\/td><\/tr><tr><td>24<\/td><td>R_\u80a9\u30e8\u30fc<\/td><td>-2.618 ~ 2.618<\/td><\/tr><tr><td>25<\/td><td>\u53f3\u8098<\/td><td>-1.0472 ~ 2.0944<\/td><\/tr><tr><td>26<\/td><td>R_WRIST_ROLL<\/td><td>-1.9722 ~ 1.9722<\/td><\/tr><tr><td>27<\/td><td>R_WRIST_PITCH<\/td><td>-1.6144 ~ 1.6144<\/td><\/tr><tr><td>28<\/td><td>R_WRIST_YAW<\/td><td>-1.6144 ~ 1.6144<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%8F%82%E7%85%A7%E3%83%95%E3%83%AC%E3%83%BC%E3%83%A0%E3%80%81%E9%96%A2%E7%AF%80%E8%BB%B8%E3%80%81%E3%82%BC%E3%83%AD%E4%BD%8D%E7%BD%AE\"><\/span>\u53c2\u7167\u30d5\u30ec\u30fc\u30e0\u3001\u95a2\u7bc0\u8ef8\u3001\u30bc\u30ed\u4f4d\u7f6e<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u3059\u3079\u3066\u306e\u30b8\u30e7\u30a4\u30f3\u30c8\u304c\u30bc\u30ed\u4f4d\u7f6e\u306b\u3042\u308b\u5834\u5408\u3001\u30b8\u30e7\u30a4\u30f3\u30c8\u306e\u5ea7\u6a19\u7cfb\u306f\u6b21\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>X<strong>\u8ef8\u306f<\/strong><strong>\u8d64<\/strong>\u3067\u8868\u3055\u308c\u307e\u3059\u3002<\/li>\n\n\n\n<li>Y<strong>\u8ef8\u306f<\/strong><strong>\u7dd1\u8272<\/strong>\u3067\u8868\u3055\u308c\u307e\u3059\u3002<\/li>\n\n\n\n<li>Z<strong>\u8ef8\u306f<\/strong><strong>\u9752\u8272<\/strong>\u3067\u8868\u3055\u308c\u307e\u3059\u3002<\/li>\n<\/ul>\n\n\n\n<p>G1 23 DOF<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"427\" height=\"844\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-30.png\" alt=\"\" class=\"wp-image-455\" style=\"width:252px;height:auto\" srcset=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-30.png 427w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-30-152x300.png 152w\" sizes=\"auto, (max-width: 427px) 100vw, 427px\" \/><\/figure>\n\n\n\n<p>G1 29 DOF<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"412\" height=\"807\" src=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-32.png\" alt=\"\" class=\"wp-image-457\" style=\"width:253px;height:auto\" srcset=\"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-32.png 412w, https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-32-153x300.png 153w\" sizes=\"auto, (max-width: 412px) 100vw, 412px\" \/><\/figure>\n","protected":false},"excerpt":{"rendered":"G1\u306e\u6982\u8981 G1\u30ed\u30dc\u30c3\u30c8\u306f\u4e0a\u534a\u8eab\u3068\u4e0b\u534a\u8eab\u306b\u5206\u304b\u308c\u3066\u304a\u308a\u3001\u305d\u308c\u305e\u308c\u306b\u8907\u6570\u306e\u81ea\u7531\u5ea6\u304c\u5099\u308f\u3063\u3066\u3044\u307e\u3059\u3002\u7247\u8155\u306f\u80a9\u95a2\u7bc0\u3001\u4e0a\u8155\u95a2\u7bc0\u3001\u8098\u95a2\u7bc0\u3092\u542b\u30805\u81ea\u7531\u5ea6\u3001\u7247\u811a\u306f\u80a1\u95a2\u7bc0\u3001\u811a\u95a2\u7bc0\u3001\u819d\u95a2\u7bc0\u3001\u8db3\u9996\u95a2\u7bc0\u3092\u542b\u30806\u81ea\u7531\u5ea6\u3067\u3059\u3002\u8170\u90e8\u306b\u306f\u8170\u690e\u95a2\u7bc0\u3092\u542b [&hellip;]","protected":false},"author":1,"featured_media":455,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"_monsterinsights_skip_tracking":false,"_monsterinsights_sitenote_active":false,"_monsterinsights_sitenote_note":"","_monsterinsights_sitenote_category":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[32,28],"tags":[],"class_list":["post-454","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-unitreeg1","category-28"],"aioseo_notices":[],"jetpack_featured_media_url":"https:\/\/robolease.disr-inc.com\/wp-content\/uploads\/2025\/07\/image-30.png","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/454","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=454"}],"version-history":[{"count":1,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/454\/revisions"}],"predecessor-version":[{"id":458,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/posts\/454\/revisions\/458"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=\/wp\/v2\/media\/455"}],"wp:attachment":[{"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=454"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=454"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/robolease.disr-inc.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=454"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}