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Overview
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.
Guided Tours and Conversations
The robot provides reception, guidance and tour commentary based on the organization's own knowledge base. Voice interaction is low latency: it answers in under a second, can be interrupted and accepts follow-up questions. An emotion-aware language model recognises the user's gestures and facial expressions, initiates interaction on its own and answers with full-body motion.
Patrol and Inspection
A wheeled-arm body that combines multimodal perception with embodied manipulation skills, designed for patrol and inspection duties in offices, factories and industrial sites. Visible light recognition and thermal infrared identification work together, and large-scale models let the set of recognised objects be customised at any time.
Autonomous Action and Lift Use
Using its arms and grippers, the robot identifies lifts through an end-to-end vision-language-action model. It manages lift travel with operations such as pressing buttons and swiping cards, requiring no modification to the building. Coordinated with chassis movement, it independently performs everyday tasks such as transporting items, operating buttons and opening or closing cabinet doors.
One Device, Multiple Uses
The humanoid form offers greater universality: different functions come from selecting different software modules on the same hardware. That raises the robot's overall utilisation rate, allowing a pattern such as night patrols and daytime reception duties.
Remote Operation
Through VR equipment or a cockpit interface, an operator can remotely control the robot's base and arms to perform intricate tasks. A single 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 in specialised industries.
Tian Yi 2.0; Live Demonstration
Technical Analysis of the Wheeled Base
Why Wheels, Why a Humanoid Upper Body
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 Perception Stack and Control Rates
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.
What 275 TOPS Buys
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.
Tian Yi 2.0 Versus Reception and Service Robots
| 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 |
Engineering Assessment
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.
Details & Performance Parameters.
Physical Architecture
Dynamic Performance
Energy & Protection
Computing & Intelligence
NVIDIA Orin AGX 64 ×1, 275 TOPS
Head RGBD camera ×1 and RGB camera ×1; two RGBD cameras on the bottom chassis; single-line LiDAR ×1; visible light and thermal infrared recognition
4 × linear microphones; low-latency voice interaction with recognition of user gestures and facial expressions
External communication over Wi-Fi 6, Ethernet and Bluetooth; internal whole-body CAN and EtherCAT between 500 Hz and 1 kHz
Dexterous hand at 20 Hz, robotic arm above 200 Hz, RGBD camera at 30 Hz; remote operation through VR or a cockpit interface
Ubuntu 22.04 with a ROS 1 control layer
Mechanical Components
35 degrees of freedom in total: head 3, 7 per arm, waist 2, 2 per leg, bottom chassis 2, dexterous hands 6 ×2
Adjustable height between 130 cm and 165 cm; 88.5 kg
Whole-body CAN and EtherCAT between 500 Hz and 1 kHz; dexterous hand 20 Hz, robotic arm above 200 Hz, RGBD camera 30 Hz
15 Ah 48 V battery; more than 2 hours of operation
Hardware & Materials
A humanoid upper body combined with a wheeled base; an 88.5 kg body with two dexterous hands (6 degrees of freedom each)
35 degrees of freedom: head 3, 7 per arm, waist 2, 2 per leg, base 2, 6 per hand
Bring Autonomous Power to the Field.
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IN THE PRESS
About the X-Humanoid Tian Yi 2.0
Tian Yi 2.0 Frequently Asked Questions
The most commonly asked questions and answers about 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.
