GR-2

Full-size humanoid R&D platform with 53 DOF and 12-DOF tactile-sensing hands, built by Fourier Intelligence for robotics developers and researchers.

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GR-2 humanoid robot full-body product photo

175 cm Height

63 kg Mass

53 DOF

3 kg/arm Payload

Overview

GR-2 is Fourier Intelligence's full-size humanoid development platform, standing 175 cm with 53 degrees of freedom and 12-DOF dexterous hands carrying six tactile sensors each. Aimed at developers, researchers, and enterprises, it ships with an open SDK (ROS, MuJoCo, NVIDIA Isaac Lab) and a swappable battery for sustained experimentation.

Capabilities

12-DOF dexterous hands with six array-type tactile sensors each that sense force and read object shape and material
Driven by seven distinct Fourier Smart Actuator (FSA 2.0) variants with peak torque exceeding 380 N·m and dual-encoder control
Hot-swappable detachable battery with roughly double the GR-1's capacity, for up to about 2 hours of runtime
Open development SDK compatible with ROS, MuJoCo, and NVIDIA Isaac Lab, with modules for vision, path planning, and force-feedback control
Multiple teaching modes including VR teleoperation, lead-through (drag) programming, and direct command input

Specifications

Height: 175 cm
Mass: 63 kg
Degrees of freedom: 53
Hands: 12 per hand
Payload: 3 kg per arm
Battery: Detachable, hot-swappable; ~2x the capacity of GR-1
Runtime: Up to ~2 hours
Actuation: Electric, seven FSA 2.0 actuator variants, peak torque >380 N·m
Sensors: Six array-type tactile sensors per hand (force, shape, material); vision
Origin: China
Unveiled: 2024

Deployment

Humanoid robotics research and prototyping
Dexterous manipulation and grasping development
Embodied-AI and imitation-learning training
Elderly-care and mobility-assistance research