Wheeled Dual-Arm Reception and Patrol Robot
The X-Humanoid Tian Yi 2.0 is a dual-arm service robot that places a humanoid upper body on a wheeled base.
Its height adjusts between 130 and 165 cm, it weighs 88.5 kg and carries 35 degrees of freedom: 3 in the head, 7 per arm, 2 in the waist, 2 per leg, 2 in the base and two dexterous hands with 6 degrees of freedom each. It runs 275 TOPS of compute on an NVIDIA Orin AGX 64, with an RGBD and an RGB camera in the head, two RGBD cameras on the base and a single-line LiDAR. It was designed for reception and guiding, patrol and inspection, and autonomous task scenarios, handling work such as pressing lift buttons and swiping cards without modifying the building. Robotlar.org assesses sourcing and alternatives together with organizations that have a Tian Yi requirement.
Enterprise supply · specification support · integration engineering
The X-Humanoid Tian Yi 2.0 is the wheeled dual-arm service robot from the Beijing Humanoid Robot Innovation Center. By placing a humanoid upper body on a wheeled base, it aims to work with interfaces designed for people without taking on the risk of bipedal walking.
Hardware highlights: an adjustable height between 130 and 165 cm, 88.5 kg, and more than two hours of operation on a 15 Ah 48 V battery. There are 35 degrees of freedom in total: head 3, 7 per arm, waist 2, 2 per leg, base 2 and two dexterous hands with 6 degrees of freedom each. Compute is 275 TOPS on an NVIDIA Orin AGX 64. The perception package consists of an RGBD and an RGB camera in the head, two RGBD cameras on the base, a single-line LiDAR, four linear microphones and visible light with thermal infrared recognition.
The software runs on Ubuntu 22.04 with a ROS 1 control layer. Control rates differ by task: the whole-body bus between 500 Hz and 1 kHz, the robotic arm above 200 Hz, the dexterous hand at 20 Hz and the RGBD camera at 30 Hz. Remote operation goes through VR or a cockpit interface.
For organizations with a Tian Yi 2.0 requirement we assess sourcing, timing and the alternatives deliverable today transparently.
3 use casesTap the cover to play; sound and loading start only on click.
The use cases the manufacturer defines for the X-Humanoid Tian Yi 2.0.
The robot provides reception, guidance and tour commentary based on the organization's own knowledge base.
A wheeled-arm body that combines multimodal perception with embodied manipulation skills, designed for patrol and inspection duties in offices, factories and industrial sites.
Using its arms and grippers, the robot identifies lifts through an end-to-end vision-language-action model.
The humanoid form offers greater universality: different functions come from selecting different software modules on the same hardware.
Through VR equipment or a cockpit interface, an operator can remotely control the robot's base and arms to perform intricate tasks.
6 images; tap to enlarge.
21 values in 5 categories; data published by the manufacturer.
Verified on the manufacturer page on 18 September 2026.
An itemised quote for the X-Humanoid Tian Yi 2.0 is prepared by configuration, quantity and delivery scope.
The Tian Yi 2.0 uses the working envelope of a humanoid upper body without taking on the risk of bipedal walking. A wheeled base is stable and energy-efficient on flat ground, carrying an 88.5 kg body for more than two hours on a 15 Ah 48 V battery. The two 7-degree-of-freedom arms and two 6-degree-of-freedom dexterous hands on the upper body then allow work with interfaces designed for people: lift buttons, card readers and cabinet doors. An adjustable height of 130 to 165 cm covers work at both desk and shelf level.
The head carries one RGBD and one RGB camera, the base two RGBD cameras and a single-line LiDAR, with visible light and thermal infrared recognition on top. The thermal channel is what distinguishes it in inspection work, since it reveals a hot spot in an electrical panel. Control rates differ by task: the whole-body bus runs between 500 Hz and 1 kHz, the robotic arm above 200 Hz, the dexterous hand at 20 Hz and the RGBD camera at 30 Hz. The hand staying at 20 Hz points to a design focused on grasping and releasing rather than fine force feedback.
The 275 TOPS on an NVIDIA Orin AGX 64 is enough to run an end-to-end vision-language-action model on the robot, which is what lets the identify-the-lift-and-press-the-button scenario work without a cloud connection. Choosing Ubuntu 22.04 and ROS 1 means compatibility with the existing robotics software ecosystem, though the end of the ROS 1 maintenance schedule should be considered for long-lived installations.
| Feature | Tian Yi 2.0 | AgiBot G2 | Pudu BellaBot |
|---|---|---|---|
| Form | Wheeled base + humanoid upper body | Wheeled base + dual arm | Wheeled tray robot |
| Degrees of freedom | 35 | 25 | No arms |
| Compute | Orin AGX 64, 275 TOPS | 500 TOPS or Jetson T5000 | Service software |
| Primary job | Reception, patrol, autonomous tasks | Industrial operation | Serving and transport |
| Status in Turkey | Sourcing enquiry | Sourcing enquiry | Orderable |
What sets the Tian Yi 2.0 apart is combining three jobs in one body: reception, patrol and autonomous transport that uses lifts. The thermal infrared channel turns the inspection scenario into a serious claim, while using lifts without modifying the building makes installation in existing premises easier. On the other hand, 88.5 kg on a wheeled base means limits in buildings with stairs or thresholds. If a service robot is needed today, the Pudu family can be ordered in Turkey with warranty and service; the Tian Yi differentiates itself on work that needs arms and autonomous task execution.
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.
Source documents
Technical values come from the manufacturer's documents; verified on 18 September 2026. 1 documents at the bottom of the page.
Robotic system costs are optimised according to the selected hardware platform, additional sensor and payload configurations, and the integration scenarios specific to your site. Share your requirements and our engineering team will prepare a feasibility report and a pro forma quotation tailored to your organisation.
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The most common questions about the X-Humanoid Tian Yi 2.0.
Sourcing, delivery schedule and investment for the Tian Yi 2.0 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 specification table on the product page: 130-165 cm adjustable height, 88.5 kg, more than 2 hours of runtime and a 15 Ah 48 V battery. Thirty-five degrees of freedom in total: head 3, 7 per arm, waist 2, 2 per leg, base 2 and dexterous hands 6 ×2. Compute is a single NVIDIA Orin AGX 64 at 275 TOPS. Cameras: head RGBD ×1 and RGB ×1, bottom chassis RGBD ×2; single-line LiDAR ×1 and 4 linear microphones. Software is Ubuntu 22.04 with ROS 1.
Three scenarios stand out: reception and guiding (voice interaction against the organization's knowledge base with sub-second responses), patrol and inspection (offices, factories and field sites with visible light and thermal infrared recognition), and autonomous action (transporting items and opening cabinets, including pressing lift buttons and swiping cards). Swapping software modules on the same hardware allows a night patrol and daytime reception pattern.
An operator controls the robot's base and arms through VR equipment or a cockpit interface to carry out intricate tasks. One operator can manage several robots, which is how human intervention enters abnormal incidents and emergencies during inspection. The same capability makes it possible to substitute a robot for a person in hazardous environments.
