Overview & Hardware

MARS is a compact mobile manipulator with onboard AI compute, designed as a complete platform for building and sharing real-world robot applications.

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Hardware at a glance

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Sensors

MARS combines complementary perception sources: a forward-facing stereo RGB camera that computes scene depth, a gripper-mounted RGB camera for close manipulation, and a 2D LiDAR for localization.

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Camera matrix

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2D LiDAR

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Custom sensors

MARS provides two powered USB 3.0 ports for additional sensors/peripherals.

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Arm

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Specifications

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Actuators

Seven Dynamixel servos (Robotis) drive MARS, numbered 1–7: motors 1–6 form the arm (motor 1 at the base, motor 6 driving the gripper) and motor 7 moves the head.

Detailed motor specs

Spec	XL430-W250-T	XC430-T240BB-T	XL330-M288-T
Used by	Motors 1, 3	Motor 2	Motors 4–7
Gear ratio	258.5 : 1	245.22 : 1	288.4 : 1
Resolution	4096 pulse/rev	4096 pulse/rev	4096 pulse/rev

All three models share the same 4096 pulse/rev encoder resolution — about 0.088° per step at the output shaft. The full electrical and mechanical specs are on the Robotis product pages linked above.

These actuators were chosen for robustness and repeatability. The arm can reliably perform tasks such as chess manipulation (see Examples).

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Onboard Computer

MARS ships with a Jetson Orin Nano Super 8GB Development Kit. Innate also exposes two additional USB ports for user extensions after core system wiring.

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Platform details

MARS is delivered assembled and calibrated so you can start quickly, while still being open and mod-friendly for deeper customization. Everything the robot needs at runtime runs on the robot — the VLA (Innate ACT), SLAM, and the Innate agent all execute on the Jetson, with the cloud only handling the model call and policy training. You need a computer to develop for MARS, but once your agents and skills are on it, you can close the laptop and walk away. You can buy an assembled MARS and access the open hardware/software repository: