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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.
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.
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.
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.
GR-2; Live Demonstration
Technical Analysis of What Changed in the Second-Generation Humanoid
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.
Details & Performance Parameters.
Physical Architecture
Dynamic Performance
Energy & Protection
Computing & Intelligence
Intel Core i7, 14 cores; optional 275 TOPS computing module
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
Voice interaction with echo cancellation; real-time teleoperation with Pico and Vision Pro headsets
Ethernet communication; Type-C and USB 3.0 I/O
The Fourier Toolkit: a development library of pre-optimized modules supporting the NVIDIA Isaac Lab, ROS and MuJoCo frameworks
Ubuntu 20.04
Mechanical Components
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
Approximately 3 kg single-arm payload
Approximately 950 Wh removable lithium-ion battery; approximately two hours of operation and two hours of charging
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
Aluminium alloy and engineering plastic; concealed wiring
Waist Z axis ±150 degrees; knee -5 to 135 degrees; hip pitch ±150 degrees, roll -34 to 90 degrees, yaw -40 to 90 degrees
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
Hardware & Materials
Aluminium alloy and engineering plastic; integrated cabling with concealed wiring that eases modularization
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
The New Intelligence of Operation.
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GR-2 Frequently Asked Questions
The most commonly asked questions and answers about GR-2.
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.
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.
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.
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.
