HUMANOID ROBOTS · FOURIER

Fourier GR-2

Humanoid platform; a research-focused robot with advanced manipulation and 29 degrees of freedom.

Fourier GR-2 is a second-generation humanoid research and manipulation platform. Its modular actuator design and dexterous-hand configuration combine mobility and perception capabilities.

Height: 175 cm · Approximately 64 kg
Degrees of freedom: 29 · 53 actuators with dexterous hands
Joint Torque: 436 N·m · FSA 2.0 dual encoder

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Fourier GR-2
what is it evaluated for?

Fourier GR-2 is the second-generation platform in the GRx humanoid series. Its 29-degree-of-freedom body architecture and 12-degree-of-freedom dexterous-hand configuration bring the total number of actuators to 53. Designed for carrying and manipulation, the platform offers a foundation suited to research, development, and prototyping, with open software support and rich perception packages. In addition to mechanical capabilities such as walking, arm movements, and end-effector control, its removable battery and modular computing options provide flexibility for field and laboratory use. Fourier Toolkit facilitates integration with ready-made modules supporting ROS, MuJoCo, and NVIDIA-based frameworks.

Manipulation and perception researchRobotics prototyping and software developmentAdvanced control and dynamic walking studiesHumanoid hand/grasping experiments

PRODUCT-SPECIFIC

Key features.

Features compiled from source product information; evaluate according to the model and configuration.

Advanced Body and Joints

Provides multi-axis mobility and a broad manipulation workspace with a total of 29 degrees of freedom across the head, waist, two legs, and two arms.

12-DOF Dexterous Hand

Containing six array-type tactile sensors, the hand detects contact force and adjusts grasping behavior in real time, enabling precise object handling.

Modular Actuator Architecture (FSA 2.0)

Dual-encoder FSA 2.0 actuators improve joint control and torque management, providing driving characteristics suited to the body's dynamics.

Advanced Perception Package

Supports both SLAM and pure vision-based perception scenarios with components such as stereo cameras, a 6-axis IMU, and tactile sensors on the fingers.

Removable Battery and Mobile Use

The removable lithium-ion battery enables quick swaps during field operations and provides flexibility for planned operating periods.

Software and Integration Support

Preconfigured modules that support ROS, MuJoCo, and NVIDIA-based frameworks, together with Fourier Toolkit, enable integration with remote real-time control headsets.

Research-Focused Design

Open hardware interfaces and a modular wiring approach make it suitable for prototyping, algorithm development, and cross-platform experiments.

SOURCED PRODUCT DATA

Technical features.

Values are taken from the source product page. Confirm the package, software, and accessory contents against the manufacturer's current documentation before ordering.

Fourier GR-2 technical specifications
Feature	Value
Dimensions (standing)	1750 × 552 × 275 mm; arm span 1520 mm, up to 1920 mm with dexterous hands; lower limb 465 mm + 378 mm
Weight	63 kg
Arm reach	1520 mm arm span; up to 1920 mm with the in-house-developed dexterous hands (12 degrees-of-freedom hand version)
Arm payload	3
Maximum speed	5
Joint torque	436 N·m (maximum joint peak torque)
Joint motion range — source field	Joint position limits (rad, left side): hip pitch -2,618~2,618; hip roll -0,59341~1,5708; hip yaw -0,69813~1,5708; knee pitch -0,087266~2,3562; ankle pitch -0,7854~0,7854; ankle roll -0,38397~0,38397; waist yaw -2,618~2,618; head yaw -1,3963~1,3963; head pitch -0,5236~0,5236; shoulder pitch -2,9671~2,9671; shoulder roll -0,5236~2,7925; shoulder yaw -1,8326~1,8326; elbow pitch -1,5272~0,47997; wrist yaw -1,8326~1,8326; wrist pitch -0,61087~0,61087; wrist roll -0,95993~0,95993
Battery capacity	Approximately 950 Wh
Battery	Approximately 950 Wh lithium-ion, removable; rated voltage 39,6 V, charge limit 46,2 V, total weight under 9 kg, service life of more than 500 cycles at 80% depth of discharge; charging time approximately 2 hours
Operating time	Approximately 2 hours
Charging time	Approximately 2 hours
Modes of movement	Full-size bipedal humanoid; torso rotation, grasping, walking, and getting up from the ground
Degrees of freedom	29 body actuators; up to 53 actuators in total with dexterous hands
Neck degrees of freedom	2 DoF
Torque density	FSA 2.0 dual-encoder actuator; maximum joint torque 436 N·m; 23 bit / 23 bit dual encoders in the legs, 24 bit / 24 bit in the arms; power output approximately 930 W
Material	Aluminum alloy and engineering plastic; integrated wiring that facilitates modularization, with concealed wiring harnesses
Manufacturer's note	Safety functions: 1 wireless emergency stop and 1 local emergency stop.
Joint configuration	29 degrees of freedom in the body: head 2, waist 1, legs 6+6, arms 7+7. Basic hands have 6 degrees of freedom; advanced dexterous hands have 12 degrees of freedom; the total number of actuators increases to up to 53 in the dexterous-hand configuration
Load capacity	Payload capacity of approximately 3 kg with one arm
Battery system	Approximately 950 Wh removable lithium-ion battery; approximately 2 hours of operation, approximately 2 hours to charge
Joint module	FSA 2.0 actuator: dual-encoder system, maximum joint torque 436 N·m; 23-bit resolution in the legs, 24-bit in the arms
Structure and materials	Aluminum alloy and engineering plastic; concealed wiring harnesses
Joint motion range — source field (2)	Waist Z-axis ±150 degrees; knee -5 to 135 degrees; hip pitch ±150 degrees, roll -34 to 90 degrees, yaw -40 to 90 degrees
Touch sensing	Second-generation dexterous hand with 12 degrees of freedom; 6 array-type tactile sensors on the fingers measure contact force, distinguish an object's shape and material, and adjust grip in real time
Sensors	Stereo camera; supports SLAM and pure vision-based perception and provides an open hardware interface; 6-axis IMU (3-axis accelerometer and 3-axis gyroscope); 6 array-type tactile sensors on the fingers
Connectivity	Ethernet communication; Type-C and USB 3.0 I/O
Wireless	Wi-Fi 6; wired Ethernet connection
Interaction	Voice interaction with echo cancellation; real-time remote control with Pico and Vision Pro headsets
Joint encoder	Dual encoders: 23 bit/23 bit (lower limbs), 24 bit/24 bit (upper limbs)
Processor	Intel Core i7, 14 cores; optional 275 TOPS computing module
Operating system	Ubuntu 20.04
Software features	Fourier Toolkit: A development library of pre-optimized modules that supports the NVIDIA Isaac Lab, ROS, and MuJoCo frameworks
Operating temperature	0 to 45 degrees Celsius; operating humidity of 20 to 80 percent relative humidity, non-condensing

SEE THE PRODUCT IN ACTION

Fourier GR-2 introduction.

The introduction video linked from the source product page opens when you press the play button.

PRODUCT INFORMATION SOURCES

Sources and documentation.

This catalog is intended to help explore product information. No commitments are made on behalf of Robotik Çözümler regarding stock, authorized dealers, pricing, warranty, or after-sales service terms.

FREQUENTLY ASKED QUESTIONS

Frequently asked questions.

What are the key technical specifications of Fourier GR-2?

Fourier GR-2 has a body architecture with 29 degrees of freedom (head 2, waist 1, legs 6+6, arms 7+7) and a dexterous hand with 12 degrees of freedom, for a total of 53 actuators. Its dimensions are 1750 × 552 × 275 mm, its weight is approximately 64 kg, and its arm span is 1520 mm, extending to 1920 mm with the dexterous hand. Payload and torque values, along with battery, processor, and software support, are specified in the source information.

What does the perception system and its sensors include?

The platform supports SLAM and pure vision-based perception scenarios with components such as stereo cameras, a 6-axis IMU, and six array-type tactile sensors in the fingers.

Which software environments and tools are supported?

Fourier Toolkit provides preconfigured modules and supports frameworks such as ROS, MuJoCo, and NVIDIA Isaac, adapting to research and simulation workflows.

What is known about power and operating time?

The device runs on a removable lithium-ion battery; the source states a capacity of approximately 950 Wh, an operating time close to two hours, and a charging time of a similar duration.

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