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Overview
The Fourier N1 is Fourier's open-source humanoid robot, built for frontier embodied AI research. Versatile motion control, multimodal integration and exploration of future robot form factors are its focus areas.
The figures stated on the product page: 130 cm in height, 38 kg in weight, a maximum speed of 3.5 m/s, a two-hour battery and 23 degrees of freedom. The product brochure gives, for the same body, dimensions of 1245 × 441 × 202 mm, a net weight under 39 kg, a 1240 mm arm span, a 2.7 km/h walking speed and a 10.8 km/h running speed. The degree-of-freedom breakdown is legs 6+6, waist 1, arms 5+5 and head 0.
On the joint side, maximum peak torque is 144 N·m, peak current 70 A, operating voltage 24-60 V, gear backlash under 10 arcmin and dual encoders at 16-bit and 14-bit resolution; communication runs over Ethernet. The battery is 475 Wh lithium-ion under 3.2 kg: over two hours of continuous runtime, approximately 3.5 hours of charging and a life of over 800 cycles.
Compute runs on an Intel Core i7-13700H under Ubuntu 20.04, with Intel Iris Xe graphics, 16 GB of memory and 512 GB of NVMe storage. On the network side there is Wi-Fi 6 through an MT7921K module and LAN up to 2500M. Perception includes an optional binocular depth camera and a 6-axis IMU. Remote control is handled with a Bluetooth gamepad.
On mobility it supports 15 to 20 degree slopes, 20 cm stair steps, single-leg balancing and ground push-ups. The frame is lightweight aluminium alloy with engineering plastic.
A complete hardware resource package is published: design schematics, a bill of materials, assembly manuals and basic operating software code. In the software repositories, URDF models ship under Apache-2.0, the SDK documentation under MIT, and the deployment and training frameworks under LGPL-3.0.
For organizations with an N1 requirement we assess sourcing, timing and the alternatives deliverable today (the Unitree G1) transparently.
Launch Video
The launch video shows the N1 walking, running and performing dynamic movements. The robot runs on 23 actuators: six per leg, one at the waist and five per arm. There is no head joint, a choice that dedicates mass and control complexity to mobility.
Dynamic Response Capabilities
The N1 handles 15 to 20 degree slopes, climbs 20 cm stair steps and performs complex movements such as single-leg balancing and ground push-ups. A 144 N·m peak joint torque and backlash under 10 arcmin supply the rapid force changes those movements require.
Compact Hardware Design
A lightweight aluminium alloy and engineering plastic frame gives a clean, durable body. The 475 Wh battery weighs under 3.2 kg and provides over two hours of continuous runtime, a budget designed for multi-scenario research and high-frequency testing. Charging takes approximately 3.5 hours and battery life exceeds 800 cycles.
Open Technology Foundation
A complete hardware resource package is published: design schematics, a bill of materials, assembly manuals and basic operating software code. URDF models ship under Apache-2.0, the SDK documentation under MIT, and the deployment and reinforcement learning repositories under LGPL-3.0. That makes the body usable not only by teams running it but by teams modifying it.
Use in Research and Clinical Settings
The N1 is designed for multi-scenario research and can work in the same environment as Fourier's rehabilitation equipment. Versatile motion control, multimodal integration and exploration of future robot form factors are its focus areas.
Technical Specifications
The full mechanical, electronic, performance, joint, battery, processor, interaction and sensor headings appear in the published specification table. The table states dimensions of 1245 × 441 × 202 mm, a net weight under 39 kg, a 1240 mm arm span, a 2.7 km/h walking speed, a 10.8 km/h running speed, 23 total actuators, a maximum peak joint torque of 144 N·m and a 475 Wh battery.
N1; Live Demonstration
Technical Analysis of an Open-Source Humanoid Body
Where the 23 Degrees of Freedom Were Trimmed
The breakdown is: legs 6+6, waist 1, arms 5+5, head 0. For comparison the same figure is 29 on the GR-2, and the difference lies exactly in the head and the arms. Having no head joint at all means the N1 produces looking behaviour with its body; limiting for an interaction-focused body but irrelevant for locomotion research. Five joints per arm instead of seven narrows the set of poses the arm endpoint can reach: the arm serves more for carrying load and balance than for fine manipulation. The 6+6 leg joints are fully preserved, because the running and stair-climbing budget sits there.
How Open Is the Open Source
The published hardware resource package includes design schematics, a bill of materials, assembly manuals and basic operating software code. On the software side licences differ per repository: URDF simulation models ship under Apache-2.0, the SDK documentation under MIT, and the deployment and reinforcement learning frameworks under LGPL-3.0. That distinction matters in practice: Apache-2.0 permits use of the model inside a closed product, while LGPL-3.0 imposes an obligation to share modifications to the linked code. Teams considering deriving a commercial product need to account for that difference from the start.
144 N·m and 10 Arcmin: Two Numbers Behind Dynamic Motion
Running and stair climbing demand two things: adequate peak torque and low gear backlash. Peak torque is 144 N·m, and for a 39 kg body that is enough to produce the correction needed the moment a foot lands. Keeping backlash under 10 arcmin is the less discussed but more decisive figure: as backlash grows, a dead zone opens between joint command and actual position, and high-frequency balance corrections are lost inside it. Dual encoders at 16-bit and 14-bit make that error measurable.
N1 Versus Research-Class Humanoids
| Feature | Fourier N1 | Unitree G1 | Fourier GR-2 |
|---|---|---|---|
| Height | 130 cm | 132 cm | 175 cm |
| Weight | 38 kg | 35 kg | Approximately 63 kg |
| Degrees of freedom | 23 | 23 (EDU: 43) | 29 |
| Peak joint torque | 144 N·m | Published per joint | 436 N·m |
| Battery | 475 Wh, over 2 hours | 9000 mAh | Approximately 950 Wh |
| Open source | Hardware package and URDF published | Open SDK, closed hardware | Open hardware interface |
| Status in Turkey | Sourcing enquiry | Orderable | Sourcing enquiry |
Engineering Assessment
The N1's value comes less from the body itself than from the documentation that ships with it. Publishing design schematics, a bill of materials and assembly manuals lets a university laboratory swap parts, try its own actuator or partly rebuild the body; none of that is possible on a closed platform. Twenty-three degrees of freedom and the absence of a head joint show clearly that the body is focused on locomotion research. On the university and R&D side, the counterpart deliverable in Turkey today is the Unitree G1; the G1 EDU reaches up to 43 degrees of freedom but its hardware package is not open.
Details & Performance Parameters.
Physical Architecture
Dynamic Performance
Energy & Protection
Computing & Intelligence
Intel Core i7-13700H, Intel Iris Xe graphics, 16 GB memory, 512 GB NVMe storage
Optional binocular depth camera; 6-axis IMU (acceleration and angular velocity)
Remote control through a Bluetooth gamepad
MT7921K module with Wi-Fi 6; 100M, 1000M and 2500M LAN; HDMI, USB Type-C and Type-A I/O; Ethernet joint communication
A complete hardware resource package is published: design schematics, a bill of materials, assembly manuals and basic operating software code. URDF models are released under Apache-2.0, the SDK documentation under MIT, and the deployment and training repositories under LGPL-3.0
Ubuntu 20.04
Mechanical Components
Twenty-three actuators in total: legs 6+6, waist 1, arms 5+5; no head joint
A 475 Wh lithium-ion battery under 3.2 kg; over two hours of continuous runtime, approximately 3.5 hours charging and a life of over 800 cycles
Peak torque 144 N·m, peak current 70 A, operating voltage 24-60 V, backlash under 10 arcmin, dual encoders at 16-bit and 14-bit, Ethernet communication
Lightweight aluminium alloy and engineering plastic
Hardware & Materials
Lightweight aluminium alloy and engineering plastic frame; a clean, durable and stable hardware design
Maximum peak joint torque 144 N·m; peak current 70 A, operating voltage 24-60 V, 46 V rated, backlash under 10 arcmin, dual encoders at 16-bit/14-bit; rated power approximately 460 W
The New Intelligence of Operation.
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About the Fourier N1
N1 Frequently Asked Questions
The most commonly asked questions and answers about N1.
Sourcing, delivery schedule and investment for the N1 are settled per project. If you have a corporate or academic requirement you can talk to Robotlar.org: we assess the sourcing process, a realistic timeline and the alternatives deliverable today.
The product page states 130 cm in height, 38 kg in weight, a maximum speed of 3.5 m/s, a two-hour battery and 23 degrees of freedom. The product brochure gives dimensions of 1245 × 441 × 202 mm, a net weight under 39 kg, a 1240 mm arm span, a 2.7 km/h walking speed and a 10.8 km/h running speed. On the joint side, peak torque is 144 N·m, peak current 70 A, backlash under 10 arcmin and dual encoders at 16-bit and 14-bit. The battery is 475 Wh lithium-ion under 3.2 kg, charging in approximately 3.5 hours. The processor is an Intel Core i7-13700H with 16 GB of memory and 512 GB NVMe on Ubuntu 20.04.
The published hardware resource package includes design schematics, a bill of materials, assembly manuals and basic operating software code. In the software repositories the licence varies with content: URDF simulation models ship under Apache-2.0, the SDK documentation under MIT, and the deployment and reinforcement learning frameworks under LGPL-3.0. Teams considering deriving a commercial product should evaluate that licence difference from the start.
Both are research-class bodies of similar size: the N1 at 130 cm and 38 kg, the G1 at 132 cm and 35 kg, both starting at 23 degrees of freedom. The difference sits in two places. The N1's hardware resource package is published, so parts can be swapped and the body rebuilt. The G1 can be ordered in Turkey today, delivered within 4-6 weeks with a 1-year official warranty, central service and a remote/on-site technical support protocol (SLA), and its EDU edition reaches up to 43 degrees of freedom. For a team that will not modify the hardware, deliverability is the deciding factor.
