Body and hand counts use different conventions
PUDU lists 42 DoF for the robot and describes each DH11 hand as six active plus five passive DoF. The specification includes RGB and depth vision, tactile sensing and a 0.72 kWh battery.
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The 20 kg payload and 10 kg single-arm value are explicitly tied to a test environment. They should not become unrestricted working ratings. PUDU also says that some demonstrated functions may not be available in the delivered product.
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