The Ti5 Wheeled Robot T170D reference Solution stands between 150-166cm tall and features 21 degrees of freedom (excluding the end effector). It employs a full harmonic drive solution, with an end effector equipped with a six-axis force sensor. The end-effector gripper and camera are designed to be flexibly detachable and height-adjustable. Five depth cameras provide a comprehensive field of view, and the chassis supports autonomous navigation and path planning. Communication is facilitated through both CAN and EtherCAT protocols. The robot is also equipped with a circular array of microphones for multi-angle sound collection and can integrate additional sensors such as infrared and smoke detectors.