--- title: Mobile FR3 Duo description: Mobile FR3 Duo extends the FR3 Duo with omnidirectional mobility, combining dual-arm manipulation and perception for physical AI beyond fixed workcells. --- [![Logo Franka Robotics](https://franka.de/hubfs/logo-and-claim.svg "Logo Franka Robotics")](https://franka.de?hsLang=en) [![Logo Franka Robotics](https://franka.de/hubfs/logo.svg "Logo Franka Robotics")](https://franka.de/?hsLang=en) Menu - [Products](https://franka.de/products-overview?hsLang=en) - [Franka Research 3](https://franka.de/franka-research-3?hsLang=en) - [Diana 7 by Agile Robots](https://franka.de/diana-7?hsLang=en) - [Accessories](https://franka.de/accessories?hsLang=en) - [Prototypes](https://franka.de/product-prototypes?hsLang=en) - [Franka Research 3 Duo](https://franka.de/fr3-duo?hsLang=en) - [Mobile FR3 Duo](https://franka.de/mobile-fr3-duo) - [Tactile Mobile Robot](https://franka.de/tmr?hsLang=en) - [Franka GELLO and GELLO Duo](https://franka.de/gello?hsLang=en) - [Applications](https://franka.de/applications?hsLang=en) - [Physical AI](https://franka.de/applications?hsLang=en#physical-ai-applications) - [Research](https://franka.de/applications?hsLang=en#application-research) - [Service / Innovative](https://franka.de/applications?hsLang=en#application-innovation) - [Art](https://franka.de/art?hsLang=en) - [Industry](https://franka.de/applications?hsLang=en#application-industry) - [Resources](https://franka.de/resources?hsLang=en) - [Product Documentation](https://franka.de/documents?hsLang=en) - [Development](https://franka.de/develop?hsLang=en) - [Community Contributions](https://franka.de/community?hsLang=en) - [Community Forum](https://www.franka-community.de/) - [Webinars](https://franka.de/webinars?hsLang=en) - [Careers](https://franka.de/careers?hsLang=en) - [Company](https://franka.de/company?hsLang=en) - [About](https://franka.de/company?hsLang=en) - [Contact](https://franka.de/contact?hsLang=en) - [News](https://franka.de/news?hsLang=en) - [Events](https://franka.de/events?hsLang=en) - [Sales Partners](https://franka.de/partners?hsLang=en) English - [Deutsch](https://franka.de/de/mobile-fr3-duo) - [日本語](https://franka.de/ja/mobile-fr3-duo) - [한국어](https://franka.de/ko/mobile-fr3-duo) - [English](https://franka.de/mobile-fr3-duo) - [中文 (Chinese)](https://www.franka-robotics.cn) ![260217\_MFR3\_Duo\_Camera10\_fp (1)](https://franka.de/hubfs/260217_MFR3_Duo_Camera10_fp%20(1).png) THE REFERENCE PLATFORM FOR PHYSICAL AI # MOBILE FR3 DUOPrototype Mobile FR3 Duo extends the FR3 Duo reference platform into mobile environments by integrating it with Tactile Mobile Robot (TMR). It combines dual-arm manipulation, rich perception, and omnidirectional mobility into a single physical AI system – enabling data collection and policy execution beyond fixed workcells.   [Get early access](https://franka.de/mobile-fr3-duo?hsLang=en#request-quote-mobile) [Download Two-Pager](https://franka.de/hubfs/MobileFR3Duo_TwoPager_February%202026.pdf?hsLang=en) WHY MOBILE FR3 DUO 1. ### FR3 ON THE MOVE Mobile FR3 Duo unifies teleoperation, dataset generation, and policy execution in dynamic environments. By combining the optimized dual-arm kinematics of FR3 Duo with the omnidirectional base of TMR, it enables whole body coordination for real-world manipulation tasks. 2. ### INTEGRATED MOBILE MANIPULATION Mechanical, electrical, and software interfaces are pre-integrated. The system is delivered as a coherent architecture, drastically reducing integration time compared to assembling base and manipulation separately. Researchers can focus on experimentation rather than system engineering. 3. ### REFERENCE PLATFORM FOR PHYSICAL AI Researchers worldwide benefit from using a reference setup to generate collective datasets – or reuse datasets from others – to train models. By using the same setup, they can also fine-tune models, execute policies out-of-the-box, and benchmark policy performance operations. 4. ### ADVANCED PERCEPTION AND EXTENSIBILITY Mobile FR3 Duo inherits TMR’s full sensor suite – LiDAR, cameras, IMU – and combines it with FR3’s tactile sensitivity and vision and manipulation accessories for FR3 Duo. Standardized mounting points allow extension with additional sensors, compute units, or task-specific tools, ensuring adaptability for evolving research needs. ![Ruler Icon](https://franka.de/hubfs/Ruler%20Icon.svg) Base Dimensions 800x580x294 mm ![Ruler Icon](https://franka.de/hubfs/Ruler%20Icon.svg) Reach per Arm 855 mm ![Weight Icon](https://franka.de/hubfs/Weight%20Icon.svg) Payload 100 kg (Base) 3 kg (per Arm) ![Speed Icon 2](https://franka.de/hubfs/Speed%20Icon%202.svg) Max Speed 1,75 m/s ![Accessories Icon (1)](https://franka.de/hubfs/Accessories%20Icon%20(1).svg) Embedded Sensors 14x Arm Torque Sensors, 2x Lidars, 7x Cameras, 1x IMU ![Compute Icon-1](https://franka.de/hubfs/Compute%20Icon-1.svg) User PC NVIDIA Jetson AGX Orin ![Connectivity Icon-4](https://franka.de/hubfs/Connectivity%20Icon-4.svg) Connectivity Wi-Fi, Ethernet, USB, Bluetooth WHAT IS INCLUDED AND OPTIONS 1. ![Screenshot 2026-04-09 at 14.27.36](https://franka.de/hubfs/Screenshot%202026-04-09%20at%2014.27.36.png) 2. ![Screenshot 2026-04-09 at 14.24.05](https://franka.de/hubfs/Screenshot%202026-04-09%20at%2014.24.05.png) 3. ![Screenshot 2026-04-09 at 14.21.11](https://franka.de/hubfs/Screenshot%202026-04-09%20at%2014.21.11.png) 4. ![Screenshot 2026-04-09 at 14.25.59](https://franka.de/hubfs/Screenshot%202026-04-09%20at%2014.25.59.png) 5. ![260217\_MFR3\_Duo\_Camera18\_03\_fp\_resized](https://franka.de/hubfs/260217_MFR3_Duo_Camera18_03_fp_resized.png) ## REDUCED INTEGRATION EFFORTS AND REPRODUCIBLE RESULTS Mobile FR3 Duo includes two FR3 robots and one FR3 Duo Mounting Kit, which comprises FR3 Duo Mount and FR3 Duo Cover. Additionally, it includes Tactile Mobile Robot (TMR).   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. ![260218\_Camera01\_fp (1)\_resized](https://franka.de/hubfs/260218_Camera01_fp%20(1)_resized.png) ![MobileFR3Duo\_mobileversion](https://franka.de/hubfs/MobileFR3Duo_mobileversion.png) ADVANCED MOTION CONTROL ![Flow Graphic V3](https://franka.de/hubfs/Flow%20Graphic%20V3.jpg) ## 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. [Read documentation](https://frankarobotics.github.io/docs/) 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. 5. ![\_Frank Robotics0615\_Franka Grey-1](https://franka.de/hubfs/_Frank%20Robotics0615_Franka%20Grey-1.jpg) 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. ![\_Frank Robotics4381\_Franka Grey\_resized - bearbeitet](https://franka.de/hubfs/_Frank%20Robotics4381_Franka%20Grey_resized%20-%20bearbeitet.jpg) ![\_Frank Robotics4381\_Franka Grey\_resized](https://franka.de/hubfs/_Frank%20Robotics4381_Franka%20Grey_resized.jpg) DEVELOPMENT ![Franka Research 3 with Ai Companion integration](https://franka.de/hubfs/_Franka%20Robotics%20_Franka%20AI%20Companion_20241723.jpg) 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.  [Explore](https://franka.de/develop?hsLang=en) ## REQUEST A QUOTE   We'd love to hear from you! Please fill out the form and we'll get back to you as soon as possible.   The process is quick and easy:   1\. Fill out the form with your details and requirements. 2\. A member of our team might reach out to discuss your goals in more detail. 3\. We'll provide a tailored solution and a quote that fit your needs. Let’s start the conversation today!   ## FOLLOW US 1. [Follow us on Facebook](https://www.facebook.com/frankarobotics/) 2. [Follow us on LinkedIn](https://www.linkedin.com/company/frankarobotics) 3. [Follow us on X](https://twitter.com/FRANKAROBOTICS) 4. [Follow us on Instagram](https://www.instagram.com/frankarobotics/) 5. [Follow us on YouTube](https://www.youtube.com/channel/UCjvmirH4BRbWoQwYO4EmXFQ) 6. [Contact us](https://franka.de/contact?hsLang=en) 1. [Imprint](https://franka.de/imprint?hsLang=en) 2. [Privacy Policy](https://franka.de/privacy-policy?hsLang=en) 3. [GTC](https://franka.de/hubfs/New_GTC_EN_FrankaRobotics_040226.pdf?hsLang=en) 4. [AGB](https://franka.de/hubfs/New_GTC_GER_FrankaRobotics_040226.pdf?hsLang=en) Franka Robotics GmbH Koppstraße 12 81379 Munich – Germany Phone: +49 89 2006069 20 Email: [info@franka.de](mailto:sales@franka.de) Mo. - Fr. 8:30am - 5:00pm CEST © 2026 Franka Robotics GmbH. All rights reserved ```json { "@context" : "https://schema.org", "@id" : "https://franka.de/#organization", "@type" : "Organization", "brand" : { "@type" : "Brand", "name" : "Franka Robotics" }, "legalName" : "Franka Robotics GmbH", "logo" : { "@id" : "https://franka.de/#logo", "@type" : "ImageObject", "contentUrl" : "https://franka.de/hubfs/logo-and-claim.svg", "url" : "https://franka.de/hubfs/logo-and-claim.svg" }, "name" : "Franka Robotics", "parentOrganization" : { "@type" : "Organization", "name" : "Agile Robots" }, "sameAs" : [ "https://www.facebook.com/frankarobotics/", "https://www.linkedin.com/company/frankarobotics", "https://twitter.com/FRANKAROBOTICS", "https://www.instagram.com/frankarobotics/", "https://www.youtube.com/channel/UCjvmirH4BRbWoQwYO4EmXFQ" ], "url" : "https://franka.de/" } ``` ```json { "@context" : "https://schema.org", "@id" : "https://franka.de/#website", "@type" : "WebSite", "inLanguage" : "en", "name" : "Franka Robotics", "publisher" : { "@id" : "https://franka.de/#organization" }, "url" : "https://franka.de/" } ``` ```json { "@context" : "https://schema.org", "@id" : "https://franka.de/mobile-fr3-duo#webpage", "@type" : "WebPage", "about" : { "@id" : "https://franka.de/mobile-fr3-duo#product" }, "description" : "Mobile FR3 Duo extends the FR3 Duo reference platform into mobile environments by integrating it with the Tactile Mobile Robot (TMR). It combines dual-arm manipulation, rich perception and omnidirectional mobility into a single physical AI system for data collection and policy execution beyond fixed workcells.", "inLanguage" : "en", "isPartOf" : { "@id" : "https://franka.de/#website" }, "mainEntity" : { "@id" : "https://franka.de/mobile-fr3-duo#product" }, "name" : "Mobile FR3 Duo | Franka Robotics", "publisher" : { "@id" : "https://franka.de/#organization" }, "url" : "https://franka.de/mobile-fr3-duo" } ``` ```json { "@context" : "https://schema.org", "@id" : "https://franka.de/mobile-fr3-duo#product", "@type" : "Product", "additionalProperty" : [ { "@type" : "PropertyValue", "name" : "Product status", "value" : "Prototype" }, { "@type" : "PropertyValue", "name" : "Configuration", "value" : "Dual-arm mobile system" }, { "@type" : "PropertyValue", "name" : "Base dimensions", "value" : "800 x 580 x 294 mm" }, { "@type" : "PropertyValue", "name" : "Reach per arm", "unitCode" : "MMT", "value" : "855 mm" }, { "@type" : "PropertyValue", "name" : "Payload", "value" : "100 kg base; 3 kg per arm" }, { "@type" : "PropertyValue", "name" : "Maximum speed", "unitCode" : "MTR", "value" : "1.75 m/s" }, { "@type" : "PropertyValue", "name" : "Arm torque sensors", "value" : "14" }, { "@type" : "PropertyValue", "name" : "Lidars", "value" : "2" }, { "@type" : "PropertyValue", "name" : "Cameras", "value" : "7" }, { "@type" : "PropertyValue", "name" : "IMU", "value" : "1" }, { "@type" : "PropertyValue", "name" : "Embedded sensors", "value" : "14 arm torque sensors, 2 Lidars, 7 cameras and 1 IMU" }, { "@type" : "PropertyValue", "name" : "User PC", "value" : "NVIDIA Jetson AGX Orin" }, { "@type" : "PropertyValue", "name" : "Connectivity", "value" : "Wi-Fi, Ethernet, USB and Bluetooth" }, { "@type" : "PropertyValue", "name" : "Mobility", "value" : "Omnidirectional" }, { "@type" : "PropertyValue", "name" : "Primary applications", "value" : "Teleoperation, dataset generation, policy execution, mobile manipulation and physical AI research" }, { "@type" : "PropertyValue", "name" : "Control frequency", "value" : "1 kHz" }, { "@type" : "PropertyValue", "name" : "Control interface", "value" : "Franka Control Interface (FCI)" } ], "audience" : { "@type" : "Audience", "audienceType" : "Robotics and AI researchers" }, "brand" : { "@type" : "Brand", "name" : "Franka Robotics" }, "category" : "Mobile physical AI research robot", "description" : "Mobile FR3 Duo extends the FR3 Duo reference platform into mobile environments by integrating it with the Tactile Mobile Robot (TMR). It combines dual-arm manipulation, rich perception and omnidirectional mobility into a single physical AI system, enabling data collection and policy execution beyond fixed workcells.", "image" : [ "https://franka.de/hubfs/260218_Camera01_fp%20(1)_resized.png", "https://franka.de/hubfs/260217_MFR3_Duo_Camera18_03_fp_resized.png" ], "isRelatedTo" : [ { "@type" : "Product", "name" : "Franka Research 3" }, { "@type" : "Product", "name" : "Franka Research 3 Duo" }, { "@type" : "Product", "alternateName" : "TMR", "name" : "Tactile Mobile Robot" }, { "@type" : "Product", "name" : "Robotiq 2F-85" }, { "@type" : "Product", "name" : "RealSense D405" }, { "@type" : "Product", "name" : "ZED Mini Stereo Camera" } ], "manufacturer" : { "@type" : "Organization", "name" : "Franka Robotics", "url" : "https://franka.de/" }, "name" : "Mobile FR3 Duo", "url" : "https://franka.de/mobile-fr3-duo" } ``` ```json { "@context" : "https://schema.org", "@id" : "https://franka.de/mobile-fr3-duo#physical-ai", "@type" : "DefinedTerm", "description" : "Physical AI research involving embodied robotic systems that interact with real-world environments.", "name" : "Physical AI" } ``` ```json { "@context" : "https://schema.org", "@id" : "https://franka.de/mobile-fr3-duo#fci", "@type" : "DefinedTerm", "alternateName" : "FCI", "description" : "Franka Control Interface provides low-level, real-time control of Franka robots and access to real-time sensor data. It enables control of position, velocity and torque in joint space and position and velocity in Cartesian space, with system state data available at 1 kHz.", "name" : "Franka Control Interface", "url" : "https://frankarobotics.github.io/docs/" } ``` ```json { "@context" : "https://schema.org", "@id" : "https://franka.de/mobile-fr3-duo#libfranka", "@type" : "SoftwareApplication", "applicationCategory" : "Robotics software", "description" : "libfranka is Franka Robotics' open-source C++ interface for real-time communication and control of Franka robots.", "name" : "libfranka", "publisher" : { "@id" : "https://franka.de/#organization" } } ``` ```json { "@context" : "https://schema.org", "@id" : "https://franka.de/mobile-fr3-duo#franka-ros", "@type" : "SoftwareApplication", "applicationCategory" : "Robotics software", "description" : "franka_ros connects Franka robots with the ROS 2 ecosystem and integrates libfranka into ROS 2 Control, including robot models, meshes, visualization and simulation capabilities.", "name" : "franka_ros", "publisher" : { "@id" : "https://franka.de/#organization" } } ```