Fourier GR-2

Full-Size General-Purpose Humanoid Robot

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Height: 175 cm; Approximately 63 kg
DOF: 29; 53 actuators with dexterous hands
Joint Torque: 436 N·m; FSA 2.0 dual encoder
Walking Speed: 5 km/s; 3 kg single arm
Battery: 950 Wh; Approximately 2 hours, removable
Dexterous Hand: 12 DoF; 6 array-type tactile sensors

The Fourier GR-2 is Fourier's second-generation humanoid robot. It stands 175 cm and weighs approximately 63 kg; the body carries 29 degrees of freedom (head 2, waist 1, legs 6+6, arms 7+7), and with the 12-DoF dexterous hand configuration the total actuator count rises to 53.

Walking speed is 5 km/h and single-arm payload approximately 3 kg. FSA 2.0 dual-encoder actuators produce a maximum joint torque of up to 436 N·m, with 23-bit encoders in the legs and 24-bit in the arms. An approximately 950 Wh removable lithium-ion battery provides about two hours of operation. Six array-type tactile sensors in the fingers sense contact force and distinguish object shape and material. Robotlar.org assesses sourcing and alternatives together with organizations that have a GR-2 requirement.

Enterprise supply · specification support · integration engineering

Overview

The Fourier GR-2 is the second generation of the GRx humanoid series. Built on lessons from the first generation and customer feedback, it brings significant upgrades in hardware, design and software: more agile manipulation, improved movement and a more open platform.

Mechanically: dimensions of 1750 × 552 × 275 mm, a weight of approximately 63 kg and a 1520 mm arm span (up to 1920 mm with dexterous hands). The body carries 29 degrees of freedom: head 2, waist 1, legs 6+6, arms 7+7. With dexterous hands the total actuator count reaches 53. Walking speed is 5 km/h and single-arm payload approximately 3 kg.

On the drive side there are FSA 2.0 actuators: a dual-encoder system, a maximum joint torque of 436 N·m and 23-bit resolution in the legs with 24-bit in the arms. Power output is approximately 930 W at a 39.6 V supply. The battery is an approximately 950 Wh removable lithium-ion pack; it gives close to two hours of operation, charges in about two hours and lasts over 500 cycles at 80% depth of discharge.

Perception includes a stereo camera supporting SLAM and pure-vision sensing, a 6-axis IMU and six array-type tactile sensors in the fingers. Compute runs on a 14-core Intel Core i7 under Ubuntu 20.04, with an optional 275 TOPS module. The Fourier Toolkit provides pre-optimized modules supporting the NVIDIA Isaac Lab, ROS and MuJoCo frameworks. Real-time teleoperation with Pico and Vision Pro headsets is supported.

Fourier has shifted its current focus to the GR-3 and GRW; the GR-2 product page has been removed from the site while the brochure remains in the download centre.

For organizations with a GR-2 requirement we assess sourcing, where the product sits in its life cycle and the alternatives deliverable today transparently.

The Fourier GR-2 in motion

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Key Advantages

Body Diagram and Key Components

The published body diagram marks six main components: visual perception with an open hardware interface supporting SLAM and pure-vision sensing, a detachable battery giving two hours of average runtime, a 3 kg single-arm load capacity, integrated cabling with concealed wires that eases modularization, the dual-encoded FSA 2.0 actuator with peak torque exceeding 436 N·m, and the second-generation 12-DoF hand carrying six array-type tactile sensors.

Walking speed is stated as 5 km/h.

Fourier GR-2, Body Diagram and Key Components

12-Degree-of-Freedom Dexterous Hand

Equipped with six array-type tactile sensors, the hand measures contact force, identifies an object's shape and material and adjusts its grip in real time.

That is the basis of precise manipulation in a dynamic environment: the same grip force cannot be applied to a cardboard box and a glass, so force has to be measured at the moment of contact.
In the dexterous hand configuration the total actuator count rises to 53.

Fourier GR-2, 12-Degree-of-Freedom Dexterous Hand

FSA 2.0 Actuator

With peak torque reaching 436 N·m, the FSA 2.0 determines the body's agility and dynamic capability.

The dual-encoder system doubles control accuracy; two separate measurements, one on the motor side and one on the output side, allow gear backlash to be compensated inside the control loop.
Resolution is 23-bit in the legs and 24-bit in the arms.
That makes precise motion possible even under high load.

The Fourier GR-2 up close

3 images; tap to enlarge.

Technical Specifications

33 values in 7 categories; data published by the manufacturer.

Size and weight

Dimensions (standing): 1750 × 552 × 275 mm; arm span 1520 mm, up to 1920 mm with dexterous hands; lower limb 465 mm + 378 mm
Weight: 63 kg
Arm reach: 1520 mm arm span; up to 1920 mm with self-developed dexterous hand (12-DOF dexterous hand version)

Motion and performance

Arm payload: 3
Maximum speed: 5
Joint torque: 436 N·m (maximum joint peak torque)
Joint range of motion: Joint position limits (rad, left side): hip pitch -2.618~2.618; hip roll -0.59341~1.5708; hip yaw -0.69813~1.5708; knee pitch -0.087266~2.3562; ankle pitch -0.7854~0.7854; ankle roll -0.38397~0.38397; waist yaw -2.618~2.618; head yaw -1.3963~1.3963; head pitch -0.5236~0.5236; shoulder pitch -2.9671~2.9671; shoulder roll -0.5236~2.7925; shoulder yaw -1.8326~1.8326; elbow pitch -1.5272~0.47997; wrist yaw -1.8326~1.8326; wrist pitch -0.61087~0.61087; wrist roll -0.95993~0.95993

Power and runtime

Battery capacity: Approximately 950 Wh
Battery: Approximately 950 Wh removable lithium-ion; 39.6 V nominal, 46.2 V charge limit, total weight under 9 kg, life over 500 cycles at 80% depth of discharge; charging approximately 2 hours
Runtime: Approximately 2 hours
Charging time: Approx. 2 h

General structure

Mobility form: Bipedal full-size humanoid; torso rotation, grasping, walking and getting up from the ground
Degrees of freedom: 29 in the body; up to 53 actuators in total with dexterous hands
Neck DoF: 2 DoF
Torque density: FSA 2.0 dual-encoder actuator; maximum joint torque 436 N·m; dual encoders at 23-bit/23-bit in the legs and 24-bit/24-bit in the arms; power output approximately 930 W
Materials: Aluminium alloy and engineering plastic; integrated cabling with concealed wiring that eases modularization
Manufacturer note: Safety functions: one wireless emergency stop and one local emergency stop.
DoF layout: 29 degrees of freedom in the body: head 2, waist 1, legs 6+6, arms 7+7. The basic hand has 6 and the advanced dexterous hand 12 degrees of freedom; with dexterous hands the total actuator count reaches 53
Payload: Approximately 3 kg single-arm payload
Battery system: Approximately 950 Wh removable lithium-ion battery; approximately two hours of operation and two hours of charging
Joint module: FSA 2.0 actuator: dual-encoder system with a maximum joint torque of 436 N·m; 23-bit resolution in the legs and 24-bit in the arms
Structure and materials: Aluminium alloy and engineering plastic; concealed wiring
Joint range: Waist Z axis ±150 degrees; knee -5 to 135 degrees; hip pitch ±150 degrees, roll -34 to 90 degrees, yaw -40 to 90 degrees
Tactile sensing: The second-generation 12-DoF dexterous hand; six array-type tactile sensors in the fingers measure contact force, identify object shape and material and adjust the grip in real time

Size and weight

Dimensions (standing): 1750 × 552 × 275 mm; arm span 1520 mm, up to 1920 mm with dexterous hands; lower limb 465 mm + 378 mm
Weight: 63 kg
Arm reach: 1520 mm arm span; up to 1920 mm with self-developed dexterous hand (12-DOF dexterous hand version)

Motion and performance

Arm payload: 3
Maximum speed: 5
Joint torque: 436 N·m (maximum joint peak torque)
Joint range of motion: Joint position limits (rad, left side): hip pitch -2.618~2.618; hip roll -0.59341~1.5708; hip yaw -0.69813~1.5708; knee pitch -0.087266~2.3562; ankle pitch -0.7854~0.7854; ankle roll -0.38397~0.38397; waist yaw -2.618~2.618; head yaw -1.3963~1.3963; head pitch -0.5236~0.5236; shoulder pitch -2.9671~2.9671; shoulder roll -0.5236~2.7925; shoulder yaw -1.8326~1.8326; elbow pitch -1.5272~0.47997; wrist yaw -1.8326~1.8326; wrist pitch -0.61087~0.61087; wrist roll -0.95993~0.95993

Power and runtime

Battery capacity: Approximately 950 Wh
Battery: Approximately 950 Wh removable lithium-ion; 39.6 V nominal, 46.2 V charge limit, total weight under 9 kg, life over 500 cycles at 80% depth of discharge; charging approximately 2 hours
Runtime: Approximately 2 hours
Charging time: Approx. 2 h

Sensors and connectivity

Sensors: Stereo camera; supports SLAM and pure-vision perception with an open hardware interface; 6-axis IMU (3-axis acceleration and 3-axis gyroscope); six array-type tactile sensors in the fingers
Connectivity: Ethernet communication; Type-C and USB 3.0 I/O
Wireless: Wi-Fi 6; wired connection over Ethernet
Interaction: Voice interaction with echo cancellation; real-time teleoperation with Pico and Vision Pro headsets
Joint encoder: Dual encoder: 23 bit/23 bit (lower limbs), 24 bit/24 bit (upper limbs)

Software and development

Processor: Intel Core i7, 14 cores; optional 275 TOPS computing module
Operating system: Ubuntu 20.04
Software features: The Fourier Toolkit: a development library of pre-optimized modules supporting the NVIDIA Isaac Lab, ROS and MuJoCo frameworks

Environmental resilience

Operating temperature: 0 to 45 degrees Celsius; operating humidity 20% to 80% RH, non-condensing

Sources and documents

Verified on the manufacturer page on 18 September 2026.

An itemised quote for the Fourier GR-2 is prepared by configuration, quantity and delivery scope.

Get a Quote Request a Demo

Technical Analysis of What Changed in the Second-Generation HumanoidDesign decisions, comparison table and evaluation

From 32 Degrees of Freedom to 29: Why the Drop

In the first-generation GR-1 the body carries 32 degrees of freedom: waist 3, head 3. In the GR-2 that number falls to 29: waist 1, head 2. This is not a regression but a choice. A three-axis waist raises control complexity and mass at the body's most critical point; a single-axis waist keeps rotation while simplifying the centre of mass. The freed budget moved to the arm and hand: with the 12-DoF dexterous hand the GR-2 reaches 53 total actuators against 44 on the GR-1. So while body joints fell, the manipulation share rose.

What Dual Encoders Buy

What distinguishes the FSA 2.0 is the dual encoder. In a single-encoder actuator the measurement sits on the motor shaft, so backlash and flex after the gearbox stay invisible to the control loop. When a second encoder measures at the output shaft, that error becomes visible and can be compensated. Resolution is 23-bit in the legs and 24-bit in the arms: 24 bits divide one full turn into roughly 16.8 million steps. Choosing higher resolution for the arm reflects that force control matters more in manipulation than in walking.

Its Position as a Research Platform

The GR-2 is positioned as a body open to development, with an open hardware interface, Ethernet communication, Ubuntu 20.04 and the Fourier Toolkit supporting the NVIDIA Isaac Lab, ROS and MuJoCo frameworks. An optional 275 TOPS computing module allows learning-based policies to run on the robot. Real-time teleoperation with Pico and Vision Pro headsets is the standard route to collecting data for imitation learning. Approximately two hours of runtime is reasonable for laboratory sessions but short for a field shift.

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)
Peak joint torque	230 N·m	436 N·m	-
Walking speed	5 km/h	5 km/h	5.5 km/h
Battery	460 Wh	Approximately 950 Wh	3 hours
Dexterous hand	6 DoF	12 DoF, 6 tactile sensors	6 DoF basic, 12 DoF optional

Engineering Assessment

The GR-2 is the generation in the GRx family with the most investment in manipulation. A 436 N·m peak torque and the dual-encoder FSA 2.0, together with a 12-DoF hand and six array-type tactile sensors in the fingers, make a solid base for grasping trials. The open hardware interface, support for ROS, MuJoCo and Isaac Lab, and an Ubuntu 20.04 base are the right configuration for university and R&D use. The limits: approximately two hours of runtime is short for a field shift, a 3 kg single-arm capacity does not cover industrial handling, and Fourier has removed the GR-2 product page from its site as focus shifted to the GR-3 and GRW. Organizations looking for a long-lived platform need to factor that transition in.

Purchasing support

Supply model
Supply to Turkey is planned per project; import, delivery and commissioning scope are itemised in the quote.
Pre-sales assessment
Site and mission focused technical feasibility; specification and administrative process support.
Demo and site visit request
Send a demo request; availability and scope are settled in the call.
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Source documents
Technical values come from the manufacturer's documents; verified on 18 September 2026. 6 documents at the bottom of the page.
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GR-2: Frequently Asked Questions

The most common questions about the Fourier GR-2.

Can the Fourier GR-2 be bought in Turkey?

Sourcing, delivery schedule and investment for the GR-2 are settled per project. The GR-2 product page has also been removed from Fourier's site, though the product brochure remains in the download centre. If you have a corporate requirement you can talk to Robotlar.org: we assess sourcing, where the product sits in its life cycle and the alternatives deliverable today.

What are the Fourier GR-2's specifications?

Dimensions 1750 × 552 × 275 mm, weight approximately 63 kg, arm span 1520 mm (up to 1920 mm with dexterous hands). Twenty-nine degrees of freedom in the body: head 2, waist 1, legs 6+6, arms 7+7; up to 53 total actuators with dexterous hands. Walking speed 5 km/h, single-arm payload approximately 3 kg, maximum joint torque 436 N·m. The battery is an approximately 950 Wh removable lithium-ion pack giving about two hours of operation and two hours of charging. The processor is a 14-core Intel Core i7 on Ubuntu 20.04, with an optional 275 TOPS computing module.

What is the difference between the GR-2 and the GR-3?

The GR-2 is manipulation and research oriented: 436 N·m peak torque, a 12-DoF dexterous hand, six array-type tactile sensors in the fingers, an open hardware interface and ROS and MuJoCo support. The GR-3 is interaction oriented: 55 degrees of freedom, 31 pressure sensors across the body, a four-microphone array, facial recognition and voice interaction with a large language model, and an Alcantara surface. Payload is around 3 kg per arm on both. Fourier's current focus is the GR-3 and the GRW.

Is there a research humanoid deliverable today?

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. The G1 EDU edition reaches up to 43 degrees of freedom and is widely used in university research. Pricing is set by quote per configuration.

In the press

About the Fourier GR-2

PricingFourier GR-2 Price and Purchasing: Where It Stands PricingFourier N1 Price and Purchasing: What Open Source Buys You PricingFourier GR-1 Price and Current Status: What to Buy Instead

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