About GR-2

Fourier's GR-2 General-Purpose Humanoid Robot stands 1.75 meters tall, weighs 63 kilograms, and has up to 53 Degrees of Freedom covering its entire body. It is equipped with the new FSA 2.0 Actuator and fully self-developed Dexterous Hands, supporting more flexible upper limb manipulation, a more powerful dynamic system, and a more open development platform. It has currently achieved experimental applications in fields such as guidance and consultation, academic research, industrial manufacturing, and medical rehabilitation.

Product Composition

Overall Structure: The GR-2 General-Purpose Humanoid Robot consists of main components like the head, torso, arms, dexterous hands, waist, and legs. Its whole body possesses up to 53 Degrees of Freedom, enabling it to perform complex action sequences.
Head: Equipped with 2 Degrees of Freedom (head rotation joint and head pitch joint), integrating visual perception modules, voice interaction modules, and speaker components, etc., providing the robot with basic environmental perception and human-computer interaction capabilities.
Torso: The torso integrates the Robot Main Computer and the Power Management Module, undertaking the core functions of system computation control and energy distribution management.
Arms: A single arm design includes the shoulder joint, elbow joint, and wrist joint, providing 7 Degrees of Freedom, ensuring a wide range of motion in space and highly flexible operational capability.
Dexterous Hands: Under standard configuration, each hand has 6 Degrees of Freedom; An enhanced version with 12 Degrees of Freedom is optionally available to support high-precision, refined manipulation tasks.
Waist: Features a rotational joint with 1 Degree of Freedom, supporting the robot's overall horizontal turning movement, enhancing its ability to adjust direction during operations.
Legs: Each leg is equipped with a combination of joints providing 6 Degrees of Freedom, ensuring the robot maintains a stable posture and achieves flexible movement under complex terrain conditions.

Coordinate System, Joint Rotation Axes, and Joint Zero Points

GR-2's joint rotation coordinate system uses the right-hand coordinate system. The color codes for each axis are as shown in the figure below: X-axis is red, Y-axis is green, Z-axis is blue. The figure also includes information on joint rotation axes and zero point positions.

Joint Comparison Diagram and Joint Limits

The joint comparison diagram is shown below:

No.	Joint Name	Control Group Name	Position Upper Limit (rad)	Position Lower Limit (rad)	Velocity Upper Limit (rad/s)	Torque Upper Limit (Nm)
0	left_hip_pitch_joint	left_leg	2.618	-2.618	6.4997	366.05
1	left_hip_roll_joint	left_leg	1.5708	-0.59341	12.362	95.472
2	left_hip_yaw_joint	left_leg	1.5708	-0.69813	14.745	54.33
3	left_knee_pitch_joint	left_leg	2.3562	-0.087266	6.4997	366.05
4	left_ankle_pitch_joint	left_leg	0.7854	-0.7854	14.745	54.33
5	left_ankle_roll_joint	left_leg	0.38397	-0.38397	16.755	29.835
6	right_hip_pitch_joint	right_leg	2.618	-2.618	6.4997	366.05
7	right_hip_roll_joint	right_leg	0.59341	-1.5708	12.362	95.472
8	right_hip_yaw_joint	right_leg	0.69813	-1.5708	14.745	54.33
9	right_knee_pitch_joint	right_leg	2.3562	-0.087266	6.4997	366.05
10	right_ankle_pitch_joint	right_leg	0.7854	-0.7854	14.745	54.33
11	right_ankle_roll_joint	right_leg	0.38397	-0.38397	16.755	29.835
12	waist_yaw_joint	waist	2.618	-2.618	7.7568	74.45
13	head_yaw_joint	head	1.3963	-1.3963	9.1627	17.325
14	head_pitch_joint	head	0.5236	-0.5236	9.1627	17.325
15	left_shoulder_pitch_joint	left_manipulator	2.9671	-2.9671	7.7568	74.45
16	left_shoulder_roll_joint	left_manipulator	2.7925	-0.5236	7.7568	74.45
17	left_shoulder_yaw_joint	left_manipulator	1.8326	-1.8326	6.283	42.75
18	left_elbow_pitch_joint	left_manipulator	0.47997	-1.5272	6.283	42.75
19	left_wrist_yaw_joint	left_manipulator	1.8326	-1.8326	9.1627	17.325
20	left_wrist_pitch_joint	left_manipulator	0.61087	-0.61087	9.1627	17.325
21	left_wrist_roll_joint	left_manipulator	0.95993	-0.95993	9.1627	17.325
22	right_shoulder_pitch_joint	right_manipulator	2.9671	-2.9671	7.7568	74.45
23	right_shoulder_roll_joint	right_manipulator	0.5236	-2.7925	7.7568	74.45
24	right_shoulder_yaw_joint	right_manipulator	1.8326	-1.8326	6.283	42.75
25	right_elbow_pitch_joint	right_manipulator	0.47997	-1.5272	6.283	42.75
26	right_wrist_yaw_joint	right_manipulator	1.8326	-1.8326	9.1627	17.325
27	right_wrist_pitch_joint	right_manipulator	0.61087	-0.61087	9.1627	17.325
28	right_wrist_roll_joint	right_manipulator	0.95993	-0.95993	9.1627	17.325

Electrical Interfaces

The GR-2 robot has a total of seven external device interfaces. Four are located in the interface slots below the back battery, two are in the groove above the emergency stop button, and one is on the front waist (requires opening the cover). Specific locations are shown in the figure.

No.	Interface Name	Description
1	System Power Button	Used for system power on/off and status display
2	USB Type-C Port	The NUC controller's USB Type-C port can connect to a dock to expand USB and HDMI peripherals Note: The dock must be connected before powering on
3	Ethernet Port (100M)	100 Mbps Ethernet port for communication with the whole system
4	Charging Port	Used for charging the device
5	External Power Supply Port	1. Provides 16V DC / 6A output, red port is positive 2. Connector model: FGG.0B
6	Ethernet Port (Gigabit)	Gigabit Ethernet port for communication with the whole system Note: The dock must be connected before powering on
7	USB 3.0 Port	1. NUC controller's USB 3.0 port 2. Usage: Use a tool to open the cover plate to access the port 3. When not in use: It is recommended to reset the cover plate to protect the port from dust or external damage

Computer Performance

Type	Motion Control Module	Perception Module
Processor	Intel® Core™ i7 (14 cores)	4 × Cortex-A76 + 4 × Cortex-A55, ARM Mali-G610 MC4
Architecture	14 Cores / 18 Threads, Max 4.5 GHz	8 Cores (4 × A76 + 4 × A55), Max 2.4 GHz, AI Perf: 6 TOPS
Memory	16 GB	8 GB
Storage	512 GB	64 GB
Wired Network	Gigabit Ethernet (1 × 1000 Mbps)	Gigabit Ethernet (1 × 1000 Mbps)
Wireless Network	Wi-Fi 6	Wi-Fi 6
Audio		Microphone

Robot Core Parameters Table

Parameter Category	Parameter Name	Parameter Details
Mechanical Parameters	Dimensions	1750 mm × 552 mm × 275 mm
	Arm Span	1520 mm
	Arm Span + Self-developed Dexterous Hand	Up to 1920 mm (12-DOF Dexterous Hand version)
	Calf + Thigh Length	465 mm + 378 mm
	Net Weight	≈63 kg
	Material	Aluminum Alloy + Engineering Plastic
Joint Parameters	Total Actuator Count	Up to 53 (12-DOF Dexterous Hand version, optional)
	Single Leg DOF	6
	Single Arm DOF	7
	Waist DOF	1
	Head DOF	2
	Single Hand Basic DOF	6
	Single Hand High DOF	Optional 12-DOF Dexterous Hand
	Max Joint Peak Torque	436 N·m
	Dual Encoder	23 bit/23 bit (Lower limbs), 24 bit/24 bit (Upper limbs)
Performance Parameters	Walking Speed	5 km/h
	Single Hand Load Capacity	≈3 kg
	Base Compute	14-core High-performance CPU
Battery Parameters	Battery Type	Lithium-ion battery
	Battery Capacity	≈950 Wh
	Endurance Time	≈2 h
	Charging Time	≈2 h
	Total Weight	≤9 kg
	Battery Nominal Voltage	39.6 V
	Charge Limit Voltage	46.2 V
	Cycle Life	≥500 cycles (80% DOD)
Sensors	Camera	Binocular camera
	IMU	6-axis, supports acceleration and angular velocity detection
Safety Functions	Wireless Emergency Stop	1
	Local Emergency Stop	1
Communication Interfaces	Wired Connection	Ethernet
	Wireless Connection	Wi-Fi 6
Environmental Conditions	Operating Temperature	0°C to 45°C
	Operating Humidity	20% to 80% RH (No condensation)

Product Composition​

Coordinate System, Joint Rotation Axes, and Joint Zero Points​

Joint Comparison Diagram and Joint Limits​

Electrical Interfaces​

Computer Performance​

Robot Core Parameters Table​