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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.

 


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
    Base Dimensions
    800x580x294 mm
    Ruler Icon
    Reach per Arm
    855 mm
    Weight Icon
    Payload

    100 kg (Base)
    3 kg (per Arm)
    Speed Icon 2
    Max Speed
    1,75 m/s
    Accessories Icon (1)
    Embedded Sensors
    14x Arm Torque Sensors,
    2x Lidars,
    7x Cameras,
    1x IMU
    Compute Icon
    User PC
    NVIDIA Jetson
    AGX Orin
    Connectivity Icon 4
    Connectivity
    Wi-Fi, Ethernet,
    USB, Bluetooth
WHAT IS INCLUDED AND OPTIONS
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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.

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.
Read documentation

  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. 

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