Robot Overview

GRW is a wheeled dual-arm robot independently developed by Fourier, available in two versions: an "exterior version" and a "skeleton version." The figure below shows the standard exterior version. For detailed specifications, please refer to the《GRW Product Manual》.

Developers can use GRW for "secondary development, data collection, grasping model training, on-site debugging and deployment," and more.

Full-Machine Components

Interfaces and Buttons

Illustration	Name	Description
	Emergency stop button	Body emergency stop button. Press it directly in an emergency. Once pressed, the whole body stops with brakes engaged and will not fall.
	Type-C port	Primary debugging port; can be connected to a docking station.
	Ethernet port	Primary debugging port; used for Ethernet connections.
	Upper Body Power Button	Controls the robot's upper-body power on and off.
	Main power switch	Controls the main power input for the entire robot.
	Brake release button	The only way to push the robot manually. After power-on, press the brake release to push the robot by hand.

Specifications

GRW Specifications
Mechanical Parameters
Height	1231-1695.5mm
Length	722mm
Width	633mm
Net weight	≈240kg
Shoulder width	584mm
Arm span	1966mm (excluding end-effector)
Max reach height	2143.7mm
Turning diameter	880mm
Joint Parameters
Total DOF	24 (excluding end-effector)
Head DOF	2
Single-arm DOF	7
Waist DOF	3
Leg DOF (folding section)	2
Chassis DOF	3
Max joint peak torque	500 N·m
Communication interface	EtherCAT
Electrical Parameters
Nominal voltage	44.8V
Rated power	≈1300W
Fail-safe brake	Equipped (except chassis)
Performance Parameters
Average travel speed	≈0.8m/s
Max slope	≤10°
Base compute	AMD Ryzen 8-core high-performance CPU
High-compute module	Optional backpack: Jetson-AGX-Orin / Thor
Dual-arm rated payload	16 kg
Repeat positioning accuracy	±0.1 mm
Battery & Adapter
Battery capacity	Dual batteries, 672Wh each
Battery type	Lithium-ion battery
Single battery weight	6.1kg
Battery nominal voltage	44.8V
Charging voltage limit	51.1V
Cycle life	≥2000 (80% DoD)
Runtime	4h
Charging time	≈2h (0~80%)
Adapter input	100~240V AC, 50/60Hz
Adapter output	51.1V DC 7.0A
Hot-swappable	Supported
CPU
Operating system	Ubuntu 22.04
Processor	AMD Ryzen
I/O	Type-C (USB3.0), RJ45
Perception Sensor Configuration
Camera module	Head: RGB + structured-light depth camera × 1
	Chassis: depth camera × 4
Radar module	Chassis: ultrasonic radar × 8
	Chassis: LiDAR × 2
IMU	6-axis, supports acceleration and angular velocity detection
Speaker	Equipped
Shell Material
Shell material	Aviation aluminum + engineering materials
End-effector module	No end-effector in the base version. Parallel gripper, two-finger, three-finger, or five-finger dexterous hand available as options

Joint Limits

Body Part	Joint Name	Range of Motion
Head	Head Pitch	-30°~30°
	Head Yaw	-80°~80°
Shoulder	Shoulder Pitch	-170°~170°
	Shoulder Roll	R: -110°~15° / L: -15°~110°
	Shoulder Yaw	-105°~105°
Elbow	Elbow Pitch	-100°~35°
Wrist	Wrist Yaw	-105°~105°
	Wrist Pitch	-75°~75°
	Wrist Roll	-70°~70°
Waist	Waist Yaw	-150°~150°
	Waist Roll	-45°~45°
	Waist Pitch	-60°~14°
Knee	Lift Upper Pitch	-90°~58°
Ankle	Lift Lower Pitch	-29°~45°

Actuator IP Distribution

Sensor Field of View

Head camera field of view