The Marvin series from TianJi is a lightweight seven-degree-of-freedom humanoid dual-arm robot with full-joint force control and a bionic cross-axis wrist structure that functionally replicates human wrist biomechanics. It features full-arm real-time force sensing with adaptive impedance adjustment for flexible interaction, precision assembly, collision detection, and safe human-robot collaboration without additional force sensors. It has a large hollow internal routing structure for camera and power cables, and supports EtherCAT, CAN FD, and RS485 interfaces for dexterous hands and six-axis force sensors.