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Overview
The Fourier GR-1 is the first humanoid robot Fourier developed and the starting point of the GRx series. Equipped with FSA actuators, the body reproduces a near-human distribution of degrees of freedom with a versatile structure and advanced motion control.
Mechanically: dimensions of 1650 × 515 × 320 mm, a weight of approximately 55 kg and a 1680 mm arm span. The body carries 32 degrees of freedom: legs 6+6, waist 3, head 3, arms 7+7. In the dexterous-hand configuration the total actuator count reaches 44, staying at 34 on the gripper-equipped GR-1L. Walking speed is 5 km/h, single-hand payload 3 kg and peak joint torque 230 N·m.
The drive is based on the Fourier Smart Actuator family, combining motor, driver, reducer and encoder into a single module. Supply is 46.2 V with a maximum power of approximately 550 W. The battery holds 460 Wh and charges at 46 V / 2 A.
Compute runs on an Intel i7-13700H: six performance and eight efficiency cores, 20 threads and frequencies from 1.6 to 5.0 GHz. Perception includes a RealSense depth camera and a ring-shaped microphone array; the pure-vision solution uses six RGB cameras with a bird's-eye-view, Transformer and occupancy network approach. The frame is aluminium alloy and engineering plastic.
Fourier has shifted product focus to the GR-3 and the wheeled GRW; the GR-1 product page has been removed from the manufacturer's site and its brochure is no longer listed in the download centre.
If you are planning a new project we can assess Fourier's current models together with the Unitree G1 and H2 options deliverable in Turkey today.
The Start of the GRx Series
The GR-1 is the first humanoid robot Fourier developed. Equipped with FSA actuators, the body reproduces a near-human distribution of degrees of freedom with a versatile structure and advanced motion control. Starting from this body, the series evolved through three generations: the GR-1, GR-2 and GR-3.
Made for AI: Six Core Values
The GRx series was designed under the "Made for AI" principle and built around six core values: locomotion, cognition, bionic design, commercial viability, user experience and manipulation. That framework is preserved in every generation of the series starting with the GR-1.
GR-1; Live Demonstration
Technical Analysis of a First-Generation Humanoid
32 Degrees of Freedom and a Three-Axis Waist
The GR-1's breakdown is: legs 6+6, waist 3, head 3, arms 7+7. A three-axis waist and three-axis head reflect a first-generation choice to imitate the human torso as closely as possible. In the second-generation GR-2 the waist drops to one axis and the head to two, bringing the body total down to 29. The series therefore moved away from copying human anatomy toward prioritising controllability and the manipulation budget.
FSA: An Actuator in a Single Module
The Fourier Smart Actuator combines motor, driver, reducer and encoder into a single housing. The practical result is fewer cables and less assembly time: each joint runs off a single bus connection. Peak torque is 230 N·m. For comparison the second-generation FSA 2.0 produces 436 N·m on the same measure and adds a second encoder; in the first generation's single-encoder arrangement, backlash after the reducer stays invisible to the control loop.
Comparison of the GRx Generations
| Feature | Fourier GR-1 | Fourier GR-2 | Fourier GR-3 |
|---|---|---|---|
| Height | 165 cm | 175 cm | 165 cm |
| Weight | Approximately 55 kg | Approximately 63 kg | 71 kg |
| Body degrees of freedom | 32 | 29 | 55 (including hands) |
| Waist axes | 3 | 1 | 3 |
| Peak joint torque | 230 N·m | 436 N·m | - |
| Actuator | FSA | FSA 2.0, dual encoder | - |
| Manufacturer page | Removed | Removed, brochure remains | Live |
Engineering Assessment
The GR-1 is not a product to buy today but a reference showing where the GRx series began. What stands out technically is the three-axis waist and three-axis head: at 32, its body total is the highest in the series and offers the distribution closest to human anatomy. Consolidating the FSA actuator into a single module became an architectural choice preserved in later generations. The limits are what you would expect of a first generation: peak torque of 230 N·m is about half the second generation's, the single encoder leaves post-reducer error invisible and runtime was never published. Fourier has shifted focus to the GR-3 and GRW; for a new project those two models, or the Unitree G1 and H2 deliverable today, should be evaluated.
Which GR-1 fits your needs?
| Feature | GR-1 | GR-1L | GR-1 Pro | GR-1L Pro |
|---|---|---|---|---|
| End-effector | Becerikli el | Tutucu | Becerikli el | Tutucu |
| Body | GR1T1 | GR1T1 | GR1T2 | GR1T2 |
| Weight | Yaklaşık 55 kg | Yaklaşık 55 kg | Yaklaşık 60 kg | Yaklaşık 60 kg |
| Arm span | 1680 mm | 1665 mm | 1680 mm | 1665 mm |
| Total actuators | 44 | 34 | 44 | 34 |
| Body degrees of freedom | 32 | 32 | 32 | 32 |
All four editions share a 165 cm height and 32 body degrees of freedom (legs 6+6, waist 3, head 3, arms 7+7). The difference is the end-effector and the body revision: dexterous-hand editions reach 44 total actuators while the gripper-equipped L editions stay at 34. The Pro editions use the GR1T2 body.
The base edition with dexterous hands; open to grasping trials with 44 actuators.
The simplified edition with grippers; focused on locomotion research with 34 actuators.
Dexterous hands on the GR1T2 body revision.
Grippers on the GR1T2 body revision.
Details & Performance Parameters.
Physical Architecture
Dynamic Performance
Energy & Protection
Computing & Intelligence
Intel i7-13700H; 6 performance and 8 efficiency cores, 20 threads, 1.6 to 5.0 GHz
RealSense depth camera; the pure-vision solution uses six RGB cameras with a bird's-eye-view, Transformer and occupancy network approach; IMU
Ring-shaped microphone array
Six degrees of freedom per dexterous hand; the motion control stack and simulation models are published in Fourier's open repositories
Mechanical Components
32 degrees of freedom in the body: legs 6+6, waist 3, head 3, arms 7+7. Dexterous hands add 6+6; total actuators reach 44 with dexterous hands and 34 with grippers
3 kg single-hand payload
Fourier Smart Actuator (FSA): motor, driver, reducer and encoder in one module; peak joint torque 230 N·m
A 460 Wh battery charging at 46 V / 2 A.
Aluminium alloy and engineering plastic
Hardware & Materials
Aluminium alloy and engineering plastic
Peak joint torque 230 N·m; the Fourier Smart Actuator (FSA) family combines motor, driver, reducer and encoder into a single module; 46.2 V supply with a maximum power of approximately 550 W
The New Intelligence of Operation.
Start your GR-1 project with our experts now.
Get a GR-1 Quote
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- Supply plan and delivery schedule from the manufacturer line
- Technical feasibility against your project requirements
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About the Fourier GR-1
GR-1 Frequently Asked Questions
The most commonly asked questions and answers about GR-1.
The GR-1 product page has been removed from Fourier's site and the brochure is no longer listed in the download centre; the model is at the end of its life cycle. Fourier's current humanoid focus is the GR-3 and the wheeled GRW. If you have a specific GR-1 requirement you can talk to Robotlar.org, but for a new project we suggest evaluating the current models or the alternatives deliverable today.
Dimensions 1650 × 515 × 320 mm, weight approximately 55 kg, arm span 1680 mm. Thirty-two degrees of freedom in the body: legs 6+6, waist 3, head 3, arms 7+7; 44 total actuators with dexterous hands and 34 on the gripper-equipped GR-1L. Walking speed 5 km/h, single-hand payload 3 kg, peak joint torque 230 N·m. The battery is 460 Wh charging at 46 V / 2 A. The processor is an Intel i7-13700H with 20 threads. Perception includes a RealSense depth camera and a ring microphone; the pure-vision solution uses six RGB cameras.
All four editions share a 165 cm height and 32 body degrees of freedom. The GR-1 carries dexterous hands and reaches 44 total actuators; the GR-1L carries grippers, stays at 34 and has a 1665 mm arm span. The Pro editions use the GR1T2 body revision and weigh approximately 60 kg. The choice depends on whether the work requires fine grasping.
Yes. The Unitree G1 (132 cm, 35 kg, Jetson Orin) and the full-size Unitree H2 (182 cm, 70 kg, 31 degrees of freedom) can be ordered now, with 4-6 week delivery, a 1-year official warranty, on-site commissioning and engineering support across Turkey. Pricing is set by quote per configuration.
