Digit V4
Advanced bipedal robot for logistics and warehousing
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Agility Robotics Digit is the world's first commercially deployed humanoid robot generating revenue from paying customers, purpose-built for logistics and warehouse automation. Developed by Oregon-based Agility Robotics (founded 2015), Digit combines biomechanics-inspired reverse-jointed bipedal locomotion with practical manipulation to handle tote-transfer and material-handling tasks. The current generation (Digit v4) stands 5'9" (175 cm), weighs 140 lbs (63.5 kg), carries 35 lbs (16 kg), walks at 3.4 mph, and operates up to 8 hours per charge — industry-leading battery life. Digit is deployed at Spanx's Georgia distribution center and tested at Amazon facilities, managed via Agility Arc cloud fleet software.
Released: 2024
Overview
Digit V4 represents Agility Robotics' fourth generation of bipedal humanoid robots, purpose-built for the demands of modern logistics and warehouse environments. Drawing on years of research in legged locomotion and practical deployments with partners like Amazon, Digit V4 embodies a refined approach to mobile manipulation that leverages the advantages of a human-like form factor to navigate spaces designed for people.
The robot's design philosophy centers on practical commercial deployment rather than research experimentation. Every aspect of Digit V4—from its modular end-effectors to its improved battery system—has been engineered to maximize uptime, reliability, and integration with existing warehouse management systems. The bipedal configuration allows Digit to traverse stairs, step over obstacles, and work in environments with varied terrain without requiring infrastructure modifications.
Digit V4 builds on proven technology with enhancements focused on durability, serviceability, and operational efficiency. The robot features a more robust chassis, improved actuators for consistent performance, and enhanced sensing capabilities that enable safer human-robot collaboration in shared workspaces.
Key Features
- Bipedal locomotion: Human-like walking enables navigation of stairs, curbs, and uneven surfaces in existing facilities
- Enhanced payload capacity: 16 kg carrying capacity suitable for tote handling and package manipulation
- Modular end-effectors: Interchangeable grippers and manipulation tools adapt to different tasks and workflows
- Extended battery life: 2-4 hours of continuous operation with hot-swappable battery system for minimal downtime
- Advanced perception: Multi-modal sensor suite including LiDAR and cameras for navigation and object detection
- Fleet management integration: Built-in connectivity for coordination with warehouse management systems and multi-robot orchestration
- Human-centric design: Operates safely in shared spaces with collision avoidance and compliant control
Applications
Digit V4 is primarily deployed in logistics and e-commerce fulfillment operations where its bipedal mobility provides distinct advantages. The robot excels at tote moving, package sorting, and material transport tasks within warehouses and distribution centers. Major logistics providers and retailers have begun pilot programs using Digit for repetitive material handling tasks, freeing human workers to focus on more complex activities requiring judgment and dexterity.
Beyond traditional warehousing, Digit V4 shows promise in manufacturing environments for line-side delivery, inventory management, and inter-facility transport. The robot's ability to navigate mixed indoor-outdoor environments and handle varied terrain makes it suitable for campus logistics at universities, hospitals, and corporate facilities where goods must move between buildings through spaces designed for pedestrian traffic.
Technical Highlights
Digit V4's bipedal locomotion system represents years of refinement in dynamic balance and gait control. The robot employs sophisticated model-predictive control algorithms that enable stable walking across varied surfaces while carrying payloads. This control system allows Digit to recover from disturbances, adapt to unexpected obstacles, and maintain stability even when pushed or bumped—critical capabilities for safe operation in active work environments.
The robot's modular architecture facilitates rapid maintenance and customization for specific workflows. Standardized mechanical and electrical interfaces enable quick end-effector changes without specialized tools, while the sensor suite provides 360-degree perception for autonomous navigation and obstacle avoidance. Agility Robotics has focused extensively on the software stack, providing APIs and integration tools that allow customers to incorporate Digit into existing automation ecosystems and fleet management platforms.
Evolution: From ATRIAS Research to Commercial Deployment
Digit's development spans over a decade. The ATRIAS platform (2011–2015) at Oregon State University proved spring-mass locomotion models could achieve stable, energy-efficient walking. Cassie (2017–2019) validated bipedal locomotion outside the lab. Digit v4 (2024–present) represents the commercial-deployment generation: 8-hour battery, enterprise-grade reliability, Agility Arc fleet management, and paid customer deployments. Amazon (which invested in Agility's $150M Series B) has also tested Digit at its facilities. A next-generation Digit is expected with 50 lb payload and targeting 4:1 to 10:1 operating-to-charging ratios.
Key Capabilities and Features
- 28 total degrees of freedom (3 DOF per arm)
- Reverse-jointed (digitigrade) legs for energy-efficient walking and low center of gravity
- Onboard LiDAR for high-resolution 3D environment mapping
- 4× Intel RealSense depth cameras providing 360-degree spatial awareness
- MEMS IMU and gyroscope for millisecond-response balance
- Arm force sensors for compliant manipulation
- Up to 8 hours battery life — industry-leading among humanoid robots
- Autonomous fall recovery — self-righting from fallen position without human intervention
- Agility Arc cloud fleet management: task orchestration, real-time monitoring, OTA updates, WMS integration
- Demonstrated integration with 6 River Systems 'Chuck' AMRs at Spanx deployment
- RoboFab manufacturing facility (Salem, OR): 10,000+ units per year capacity
Sensor Suite and Reverse-Jointed Leg Design
Digit's perception stack fuses onboard LiDAR, four Intel RealSense depth cameras, RGB cameras, MEMS IMU, gyroscope, absolute and incremental encoders, and arm force sensors. The reverse-jointed leg design stores and returns energy during each step cycle, lowers the center of gravity for better payload stability, enables a compact turning radius for tight warehouse aisles, and allows autonomous stand-up after falls. Agility Arc provides task orchestration, real-time monitoring, performance analytics, OTA software updates, and WMS connectivity.
Real-World Deployments and Commercial Use Cases
Digit is the only humanoid robot generating revenue from paying customers. At Spanx's Flowery Branch, Georgia distribution center, Digit picks totes from 6 River Systems AMRs and places them onto conveyors. Agility targets under-2-year ROI versus a fully-loaded $30/hour human worker. The RaaS model bundles hardware, Agility Arc software, maintenance, and support. Ideal use cases include large distribution centers, e-commerce fulfillment, 3PL providers, automotive material handling/kitting, and multi-level facilities with stairs.
Videos
Deployment Evidence
Digit Moves Over 100,000 Totes — Agility Robotics
Digit humanoid robots moved over 100,000 totes in commercial warehouse operations at GXO Logistics facilities, demonstrating scaled paid deployment.
GXO Signs Industry-First Multi-Year Agreement with Agility Robotics
GXO Logistics signed a multi-year commercial agreement for Digit deployment across multiple facilities — the first multi-year humanoid robot deployment contract in the industry.
Deployment Readiness
Integration & SDK
- ROS Support
- Supported
- SDK Available
- Supported
- API Docs
- —
- Supported Platforms
- Linux, ROS 2, Python (agility-pysdk), JSON API
Support & Service
Regions
| Tier | Response Time | SLA |
|---|---|---|
| Robots-as-a-Service | 8 hrs | — |
Specifications
Connectivity
| Communication | WiFi, Ethernet |
Mechanics
| Locomotion | Bipedal |
Performance
| Max Speed | 1.5 m/s |
| Payload Capacity | 16 kg |
Physical
| Weight | 32 kg |
| Height | 1750 mm |
Power
| Battery Life | 3 hours |
Sensing
| Sensors | LiDAR, stereo cameras, depth sensors |
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