Panthera-HT —— A Fully Open-Source 6-Axis Robotic Arm
Hello Developers,
Compact robotic arms play a vital role for individual developers, data acquisition centers, and task execution in small-scale scenarios. Now, after a long time of development,the full 6-DOF (six degrees of freedom) robotic arm industry welcomes a new player—the Panthera-HT from hightorque.
The Panthera-HT currently offers control interfaces in C++, Python, and ROS2, featuring capabilities including:
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Position/Velocity/Torque control
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Impedance control
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Gravity compensation mode
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Gravity and friction compensation mode
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Master-slave teleoperation (dual-arm/bimanual)
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Hand-guided teaching / Drag-to-teach
Additionally, it supports data collection and inference within the LeRobot framework. For additional runtime scripts and implementation details, please refer to the SDK documentation.
Project Originemphasized text
This started as Ragtime-LAB/Ragtime_Panthera’s open-source project, and we’ve since taken it further with improvements and polish. Huge thanks to the original author wEch1ng(芝士榴莲肥牛) for sharing their work so generously with the community!*
Repository
To quickly access to our project , here get the links which are listed cintuitively
| Repository | License | Description |
|---|---|---|
| Panthera-HT_Main | MIT | Main project repository, including project introduction, repository links, and feature requests. |
| Panthera-HT_Model | MIT | SolidWorks original design files, sheet metal unfolding diagrams, 3D printing files, and Bill of Materials (BOM). |
| Panthera-HT_SDK | MIT | Python SDK development package, providing quick-start example code and development toolchain. |
| Panthera-HT_ROS2 | MIT | ROS2 development package providing robotic arm drivers, control, and simulation support. |
| Panthera-HT_lerobot | MIT | LeRobot integration package, supporting imitation learning and robot learning algorithms. |
Control Examples
Let’s get into the project and finish the qucik start of the Panthera-HT robot , you will find lots of interesting functions waiting for you , and I know you definitely want to have a preview of the control examples 
Position and Speed Control:
Master-Slave Teleoperation:
Master-Slave Teleoperated Grasping:
Epilogue
We sincerely thank you for your time in reviewing the content above, and extend our gratitude to all developers visiting the project on GitHub. Wishing you smooth development workflows and outstanding project performance!