The XGO Ecosystem
The current CM5 product family shares Luwu-OS and an ESP32 motion controller. Choose the robot by its mechanical structure, actuators and power requirements; supported movements and peripherals differ by model.
Model | Motion structure | Leg servos | Robotic arm | Powered wheels | CM5 RAM | Weight |
|---|---|---|---|---|---|---|
Quadruped | 12 | 3 DOF | None | 2 GB | 610 g | |
Quadruped | 12 | 4 DOF | None | 4 GB | 915 g | |
Quadruped with powered wheels | 12 | 4 DOF | 4 | 4 GB | 1150 g | |
Self-balancing wheeled-legged | 2 | None | 2 | 2 GB | 560 g | |
Wheeled-legged / car modes | 4 | None | 2 | 4 GB | 730 g |
Actuator counts
XGO-lite3 has 15 actuators (12 + 3); mini2S has 16 (12 + 4); mini2SW has 20 (12 + 4 + 4); Rider2 has 4 (2 + 2); Ranger has 6 (4 + 2). Powered wheels are counted separately from leg and arm joints.
Power and dimensions
Model | Battery | Charging | Default standing dimensions |
|---|---|---|---|
XGO-lite3 | 18650 2S, 2500 mAh | 5 V USB Type-C | 250 × 145 × 170 mm |
XGO-mini2S | 18650 2S, 3800 mAh | Supplied 8.4 V DC charger | 270 × 150 × 180 mm |
XGO-mini2SW | 18650 2S, 3800 mAh | Supplied 8.4 V DC charger | 280 × 150 × 180 mm |
XGO-Rider2 | 18500 2S, 1400 mAh | USB Type-C | 135 × 118 × 116–158 mm |
XGO-Ranger | 18500 2S, 1400 mAh | USB Type-C | 160 × 120 × 130 mm |
The product manuals list approximately 2 hours of runtime; actual runtime depends on workload. Use the charger specified for the model. The mini2S and mini2SW DC charging requirement is different from the Type-C models.
Which platform to choose
lite3: lightweight education platform with 2.3 kg·cm servos, for programming, gait and vision exercises.
mini2S: quadruped platform with 4.5 kg·cm magnetic-encoder servos and a 4-DOF arm, for locomotion and manipulation development.
mini2SW: combines the mini2S-style leg and arm layout with four FOC powered wheels, for wheeled-legged motion and mobile manipulation.
Rider2: compact two-wheel balancing platform with two leg servos, for height adjustment and balance-control experiments.
Ranger: four leg servos and two powered wheels support wheeled-legged self-balancing and car modes. It has no robotic arm.
Software and model generations
Start with the Luwu-OS User Manual. Select images and firmware by product model, hardware and release compatibility, rather than by CM4 / CM5 alone. Historical SDK identifiers such as xgomini, xgolite or mini3w are software identifiers, not current product specifications.
K210-based XGO-lite / XGO-mini and CM4-based XGO-lite2 / XGO-mini2 are discontinued product generations. Keep their documentation with the hardware it describes.