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THE REFERENCE PLATFORM FOR PHYSICAL AI

FRANKA
RESEARCH 3
DUOPrototype

FR3 Duo is a dual-arm system for physical AI research that unifies teleoperation, data collection, and policy execution on one optimized platform. Deliverable with curated manipulation actuators and vision sensors, it reduces integration efforts and provides a reproducible setup that ensures comparable results across labs.


WHY FRANKA RESEARCH 3 DUO

  1. THREE-IN-ONE, FULL AI WORKFLOW COVERAGE

    FR3 Duo enables demonstration, dataset generation, and policy execution with a single system. Researchers can demonstrate bimanual skills, collect highest-quality data (including tactile data), and deploy and benchmark policies – with low-level 1 kHz control access through Franka Control Interface (FCI).

  2. HIGHEST QUALITY DATA COLLECTION

    Large-scale real-world robotic manipulation data is the foundation for training intelligent, versatile machines that can operate safely and effectively in dynamic, unstructured environments. Franka’s high-quality integrated sensors capture real-time interaction with unmatched fidelity – delivering rich datasets for embodied AI.

  3. STANDARDIZED DATASETS AT SCALE

    A reproducible hardware and sensor configuration allows researchers to generate high-quality manipulation data, reuse datasets from other labs, and fine-tune or benchmark models under shared conditions. This is what makes FR3 Duo the reference platform for physical AI research.

  4. OPTIMIZED REACH AND MANIPULABILITY

    FR3 Duo’s kinematics are specifically engineered for table-top research. The dual-arm configuration maximizes overlapping manipulability space while preserving reachability, providing high dexterity in a compact geometry suitable for laboratory environments
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    Reach per Arm
    855 mm
    Weight Icon
    Payload per Arm
    3 kg
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    DOF per Arm
    7
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    Torque Sensors
    14
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    Expandability
    Mech. and electr.
    connection points
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    Vision
    Head, 2x Wrists
WHAT IS INCLUDED AND OPTIONS
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REDUCED INTEGRATION EFFORTS AND REPRODUCIBLE RESULTS

 

FR3 Duo includes two FR3 robots and one FR3 Duo Mounting Kit, which comprises FR3 Duo Mount and FR3 Duo Cover.

 

FR3 Duo is available with an FR3 Duo Vision and Manipulation Kit curated by Franka. The complete optional kit includes two Robotiq 2F-85 Grippers with a shared power supply, two RealSense D405 wrist cameras with dedicated holders and cabling, and a Stereolab ZED Mini Stereo Camera mounted on a Franka Head Bracket.

ADVANCED MOTION CONTROL
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FRANKA CONTROL INTERFACE (FCI)

Franka Control Interface (FCI) is designed for roboticists who require fine-grained control over the robot and access to real-time sensor data. It is ideal for motion control research and the development of highly specific behaviors, unachievable with most robots.
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  1. DIRECT CONTROL

    FCI provides low-level, real-time control of the robot, without internal transformation. Internal supervision only prevents self-damage. Gain access to the control loop, including position, velocity and torque in joint space, as well as position and velocity in Cartesian space.

  2. DATA ACQUISITION

    Capture system state data from sensors and models at 1 kHz. FCI also provides external force estimation and additional insights.

  3. COMMUNITY

    Join the ever-growing Franka Robotics community and leverage C++, ROS 2, or MATLAB & Simulink to accelerate robotics innovation.

  4. SAFETY

    Implement custom safety rules to ensure operator protection.
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  6. REAL-TIME CONTROL AND ROS INTEGRATION

    The Franka Control Interface (FCI) allows a fast and direct low-level bidirectional connection to the Arm and Hand. It provides the current status of the robot and enables its direct control with an external workstation PC connected via Ethernet. By using libfranka, our open source C++ interface, you can send real-time control values at 1 kHz with 5 different interfaces:

    • Joint level torque commands with gravity and friction compensation.
    • Joint position or velocity commands.
    • Cartesian pose or velocity commands.

      Simultaneously, you gain access to 1 kHz measurements of:

    • Joint data, e.g., the position, velocity and link side torque sensor signals.
    • Estimation of externally applied torques and forces.
    • Various collision and contact information.

      The robot model library provides:

    • Forward kinematics of all robot joints.
    • Jacobian matrix of all robot joints.
    • Dynamics, inertia matrix, Coriolis and gravity vector.

      Additionally, franka_ros connects Franka robots with the entire ROS 2 ecosystem, integrating libfranka into ROS 2 Control. It includes URDF models and detailed 3D meshes of our robots and end effectors, which allows visualization (e.g., RViz) and Gazebo simulation. Furthermore, the MoveIt! integration simplifies motion planning and gripper control, with example implementations demonstrating how to operate the robot using ROS 2.
     
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DEVELOPMENT
Franka Research 3 with Ai Companion integration
BUILD, CREATE, INNOVATE

DEVELOP ON THE FRANKA ROBOT PLATFORM

The resource hub for developers working with the Franka Research 3 robot platform. Dive into a wealth of tools, libraries and documentation designed to accelerate your development journey. Whether you're a seasoned developer or just starting out, you'll find everything you need to build, create and innovate. 

REQUEST A QUOTE

 

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