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Overview
X-Humanoid, formally the Beijing Humanoid Robot Innovation Center, is a Chinese institution that develops humanoid robot bodies together with embodied AI software. The Tien Kung 3.0 is the full-size general-purpose model in that family.
Hardware highlights: 173 cm tall; 60 or 73 kg depending on the edition and between 20 and 42 degrees of freedom. It carries 4 kg per arm and 16 kg with both arms. The joint modules are developed in-house end to end: high torque density, a large hollow design, extremely lightweight construction and precision gears throughout. The battery swaps quickly without shutting the robot down; the 3.0 LITE uses 33 Ah while the other two editions use a 30 Ah plus 3 Ah main and auxiliary pack.
On the software side it runs Ubuntu 22.04, communicates over whole-body CAN and EtherCAT, with a leg control loop above 1 kHz and a hand control loop at 500 Hz. The 2.0 PRO edition allows end-to-end models to run on the robot itself through two NVIDIA Orin AGX 64 modules; secondary development goes through the Huisi Kaiwu embodied AI platform.
For organizations with a Tien Kung 3.0 requirement we assess sourcing, timing and the humanoid alternatives deliverable today (the Unitree H2 and G1) transparently.
Launch Video: Tien Kung 3.0
The two-minute launch video shows the Tien Kung 3.0 walking, running and working with both arms. The robot stands 173 cm as a full-size humanoid; its motion control and joint drive systems were developed in-house end to end.
Intelligent Integrated Joint
The joint module is developed in-house end to end: high torque density, a large hollow body design, extremely lightweight construction and precision gears across the full range. Comprehensive validation and full-process quality control let the same module be reused across editions.
High Payload Capacity
A 4 kg rated load per arm and up to 16 kg with both arms. That capacity covers dual-arm tasks such as industrial part sorting, box handling and panel operation, while a flexible working envelope adapts to different heights and postures.
Battery Replacement When Powered On
A quick-replacement design allows the battery to be changed without shutting the robot down. The main and auxiliary battery solution provides 30 Ah plus 3 Ah on the 3.0 PLUS and 2.0 PRO and a single 33 Ah pack on the 3.0 LITE, removing downtime between shifts.
Industrial Application Scenarios
The body is used in autonomous part sorting, electrical cabinet quality inspection and autonomous transport scenarios. Real-time visual recognition adjusts the sorting strategy dynamically, while multimodal perception, long-horizon task planning and dual-arm coordination cover multi-step work such as opening cabinets, pressing buttons and closing switches.
Tien Kung 3.0; Live Demonstration
Technical Analysis of Edition Choice in a Full-Size Humanoid
What Degrees of Freedom Change
The three editions share the same 173 cm body but degrees of freedom rise from 20 to 42. The 3.0 LITE has four joints per arm: enough for walking, running and simple arm motion, not for fine manipulation. The 3.0 PLUS adds a waist joint so the torso can rotate, which means a wider working area without moving the feet. The 2.0 PRO offers seven joints per arm and three for the head, an envelope close to a human arm, which is why it is preferred for grasping and multi-step panel work.
Compute and Running Models
All three editions use an Intel i7-1355U as the basic processor, which runs motion control. The difference is the pair of NVIDIA Orin AGX 64 modules on the 2.0 PRO: the compute needed to run end-to-end vision-language-action models on the robot itself sits there. On editions carrying only the i7, heavy perception and learning workloads have to move to an external computer, which means network latency and cable management in a field setup.
Control Loop and Bus
The leg control loop runs above 1 kHz and the hand control loop at 500 Hz, with the whole body communicating over CAN and EtherCAT. Those figures determine dynamic balance: 1 kHz means being able to react to a change in foot contact force in under a millisecond. Choosing EtherCAT preserves deterministic timing even when the joint count rises to 42.
Tien Kung 3.0 Versus the Unitree Models Deliverable Today
| Feature | Tien Kung 3.0 | Unitree H2 | Unitree G1 |
|---|---|---|---|
| Height | 173 cm | 182 cm | 132 cm |
| Weight | 60-73 kg | 70 kg | 35 kg |
| Degrees of freedom | 20-42 (by edition) | 31 | 23 (EDU: 43) |
| Compute | i7-1355U, 2 × Orin AGX 64 on the 2.0 PRO | Intel Core i5 + development PCs | 8-core CPU + Jetson Orin |
| Arm payload | 4 kg (16 kg with both arms) | 7 kg rated, 15 kg peak | 2 kg (EDU 3 kg) |
| Status in Turkey | Sourcing enquiry | Orderable | Orderable |
Engineering Assessment
The Tien Kung 3.0's strength is edition flexibility: on the same body and the same joint module you can move from a 20-degree-of-freedom walking platform to a 42-degree-of-freedom manipulation platform. Four kilograms per arm is a reasonable base for industrial trials.
Which Tien Kung 3.0 fits your needs?
| Feature | Tien Kung 3.0 3.0 LITE | Tien Kung 3.0 3.0 PLUS | Tien Kung 3.0 2.0 PRO |
|---|---|---|---|
| Height | 173 cm | 173 cm | 173 cm |
| Weight | 60 kg | 73 kg | 73 kg |
| Total degrees of freedom | 20 | 21 (bel 1) | 42 (baş 3, bel 1) |
| Arm / leg degrees of freedom | Kol 4, bacak 6 | Kol 4, bacak 6 | Kol 7, bacak 6 |
| Battery | 33 Ah | 30 Ah + 3 Ah | 30 Ah + 3 Ah |
| Camera | - | Yapılandırılmış ışık ×3 | Yapılandırılmış ışık ×3 |
| Computing | i7-1355U ×1 | i7-1355U ×1 | i7-1355U ×1 / Orin AGX 64 ×2 |
| Voice module | Hoparlör ×1, ses kartı ×1 | Hoparlör ×1, ses kartı ×1, doğrusal mikrofon ×4, 720P RGB tek gözlü kamera ×1 | Hoparlör ×1, ses kartı ×1, doğrusal mikrofon ×4, 720P RGB tek gözlü kamera ×1 |
| Shared features | Ubuntu 22.04, genişletilebilir LiDAR, tüm gövde CAN ve EtherCAT, bacak kontrolü 1 kHz üzeri, el kontrolü 500 Hz | Aynı | Aynı |
The three edition tabs on the product page are named Tien Kung 3.0 LITE, Tien Kung 3.0 PLUS and Tien Kung 2.0 PRO; the 2.0 PRO is the previous-generation body but offers the widest motion envelope with 42 degrees of freedom.
The lightest body at 60 kg; a research starting point focused on walking and running.
Waist joint, structured light cameras and a microphone array for interaction and manipulation trials.
42 degrees of freedom and two Orin AGX 64 modules, the edition best suited to running end-to-end models.
Details & Performance Parameters.
Physical Architecture
Dynamic Performance
Energy & Protection
Computing & Intelligence
Intel i7-1355U ×1 (all editions); the 2.0 PRO adds 2 × NVIDIA Orin AGX 64
Extensible LiDAR; the 3.0 PLUS and 2.0 PRO add 3 × structured light cameras and a 720P RGB monocular camera
Speaker ×1 and sound card ×1; the 3.0 PLUS and 2.0 PRO add 4 × linear microphones
Whole-body CAN and EtherCAT bus communication
Leg control loop above 1 kHz, hand control loop at 500 Hz; secondary development through the Huisi Kaiwu embodied AI platform
Ubuntu 22.04
Mechanical Components
Fully in-house integrated joint module; high torque density, large hollow design, extremely lightweight construction, precision gears throughout
4 kg rated load per arm, 16 kg maximum with both arms
Main and auxiliary battery solution; quick swap while powered on, no shutdown required
Leg control rate above 1 kHz, hand control rate 500 Hz; whole-body CAN and EtherCAT
3.0 LITE 20 (arm 4, leg 6); 3.0 PLUS 21 (waist 1); 2.0 PRO 42 (head 3, waist 1, arm 7, leg 6)
Hardware & Materials
Integrated joint drive system: high torque density, large hollow design, extremely lightweight construction and precision gears throughout; the motion control system is developed in-house end to end
High torque density integrated joint module; 4 kg per arm and 16 kg with both arms
The New Intelligence of Operation.
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- Supply plan and delivery schedule from the manufacturer line
- Technical feasibility against your project requirements
- Integration scope and engineering support
- Specification and documentation support for corporate procurement
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IN THE PRESS
Tien Kung 3.0 Frequently Asked Questions
The most commonly asked questions and answers about Tien Kung 3.0.
Sourcing, delivery schedule and investment for the Tien Kung 3.0 are settled per project. If you have a corporate requirement you can talk to Robotlar.org: we assess the sourcing process, a realistic timeline and the alternatives deliverable today.
Per the edition table on the product page: 173 cm tall; the 3.0 LITE at 60 kg with 20 degrees of freedom (arm 4, leg 6) and a 33 Ah battery; the 3.0 PLUS at 73 kg with 21 degrees of freedom (waist 1), a 30 Ah plus 3 Ah battery and 3 structured light cameras; the 2.0 PRO at 73 kg with 42 degrees of freedom (head 3, waist 1, arm 7, leg 6) and two Orin AGX 64 modules. All three run Ubuntu 22.04 on an i7-1355U with extensible LiDAR, whole-body CAN and EtherCAT, leg control above 1 kHz and hand control at 500 Hz. It carries 4 kg per arm and 16 kg with both arms.
The 3.0 LITE is the lightest body at 60 kg and a research starting point focused on walking and running. The 3.0 PLUS adds a waist joint, structured light cameras and a four-microphone array, opening it up to interaction and manipulation trials. The 2.0 PRO, with 42 degrees of freedom and two Orin AGX 64 modules, is the edition best suited to running end-to-end models; grasping and multi-step panel work make sense there.
Yes. The full-size Unitree H2 (182 cm, 70 kg, 31 degrees of freedom) and the compact Unitree G1 (132 cm, 35 kg, Jetson Orin) 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.
