Bipeds / humanoids

Class definition

Walking robots (IFR type A2). Arm load is posture-dependent on every Unitree page; the table preserves rated versus peak values where the vendor states them. Dimensions and reach are normalized to millimetres.

Unitree family — vendor pages

Prices exclude tax and shipping. Dimensions normalized to millimetres; every value is repeated per column rather than written as same. H1 and H1-2 are different robots. Battery, sensor, and DoF axes are one row each: a runtime cell never carries a pack spec, and a sensor cell names the sensor type. Runtime is the vendor’s bare “battery life” figure — no Unitree page states the duty cycle it was measured at, so the hours are not comparable across columns. The H1 / H1-2 page publishes per-limb DoF only and no whole-robot total; no total is derived for those two columns.

H-series low-level sheet (joints)

Subsystem comparison for H1, H1-2, and H2. Named-joint torque is split rather than collapsed into one unlabeled value.

R1 / G1 low-level sheet (joints)

Same shape as the H-series sheet, for the two small Unitree bipeds. Joint travel is the vendor’s own range notation; the R1 and G1 pages use different arm definitions, so forearm + upper arm length and arm span stay on separate rows instead of being merged into one number. Galbot G1 is a different machine and is not on this table.

The R1 page also lists an R1 EDU SKU (26–40 DoF, optional dexterous hand, 12-month warranty, contact sales) [M1]. It is not given a column here because the family table above carries R1 AIR and R1 only.

AgiBot X2 family — vendor product table

Copied from the official X2 series product specification table. X2 and X2 Ultra share envelope and arm reach; they do not share DoF, mass, sensors, or compute. This family is not the AgiBot A2 reseller field column. End-effectors (OmniHand, OmniPicker) are Ultra-only, sold separately, and never added to the payload row. AimDK documents the Ultra only and lists battery ≈421 Wh; the product table lists ≈500 Wh for both SKUs — the cell uses the product table.

AimDK Ultra sheet lists battery ≈421 Wh [M10]. That figure is not copied into the cells above. Audio I/O (microphone array, wireless microphone, speaker) and interactive screen are listed for both SKUs on the product page and are omitted here because they are not comparable mechanical metrics.

Fourier GR-2 — live product page

Primary numbers are from the live Fourier GR-2 product page. Height is normalized to millimetres from the vendor’s 175 cm listing. Total DoF and single-arm load come from the 2024-09-26 launch note and are press-graded. The Fourier 文档中心 “About GR-2” URL returned HTTP 404 on 2026-08-27, so envelope 1750 × 552 × 275 mm, ≈950 Wh, 39.6 V, and 436 N·m peak joint from indexed snippets of that dead page are not copied. Peak torque on the live product page is 380 N·m; those two torque figures are not collapsed.

The launch note also restates 175 cm and 63 kg; those overlapping figures stay on the product-page marker. Optional 12-DoF hands are the configuration the launch note uses for the 53-DoF total. Fourier N1 is a separate research/SDK line (fourier-grx-N1); it has no numeric hardware column here. SDK versions sit on the software page.

UBTECH Walker S2 — live product page

Primary numbers are copied from the English Walker S2 product page. That page has a “Product Specifications” heading that opens a contact form, so height, mass, DoF, speed, and battery energy are not published there and stay —. Aggregator pages and reseller-hosted manuals that list 176 cm / 70 kg / 42 or 52 DoF are not copied. Walker S1 has an official marketing page with no quantitative table and has no column here.

The page also names BrainNet 2.0 and a Co-Agent industrial planner. Those are software labels, not hardware metrics, and are omitted from the table.

Leju Kuavo family — vendor ROS manuals

Copied from Leju’s Kuavo product-introduction manuals. Totals exclude the end-effector. Hand DoF is listed as a configuration row and is never added to the body total. Walking speed stays in metres per second; running speed stays in the vendor’s kilometres per hour rather than being silently converted. Battery watt-hours are derived as V × Ah. Kuavo 5-W is omitted: the “W” line is a different form class and does not share these rows. The 4.1 spec-table cell that concatenates to “30” for whole-body DoF conflicts with the composition prose and the 28-row joint table; both readings are printed.

4.1 composition is head 2 + arms 7×2 + legs 6×2 = 28. The 5 MaxB composition adds a waist yaw (±180°, rated 33 N·m). Two-finger gripper specs on the 4.1 page (600 g, 180 N, 22.5 cm stroke) stay on that page’s end-effector section and are not a robot arm-payload row.

Booster T1 — live product page

Copied from Booster’s T1 product table. Three SKUs share the same envelope and battery listing; DoF and compute diverge. Dimensions are normalized from the vendor’s centimetres. Battery energy stays — because voltage is unpublished. Hand DoF is a separate row and is never added silently to the 23-DoF base total. Booster K1 is a separate, smaller family with its own product table.

The product page also lists a depth camera, 9-axis IMU, circular 6-mic array + speaker, Wi-Fi 6, Bluetooth 5.2, and USB / Ethernet expansion. Those names are sensors and ports, not a second DoF total. Open-source SDK: BoosterRobotics/booster_robotics_sdk (ROS 2 / Fast-DDS) [M17].

LimX Oli (CL-3) — live product page

LimX’s English product page names this full-size humanoid Oli and states 165 cm height and 31 DoF with a published split. The same page says configuration varies by version and points to an unpublished “specifications page”; mass, payload, speed, and battery energy are not on the marketing page and stay —. CL-3 is this body, not a wheeled dual-arm and not LimX’s W1 quadruped.

A “complete and clear URDF” claim on a marketing page is not a commit-pinned assembly. This landscape does not add an Oli 3D card until a vendor file is pinned and rendered.

Booster K1 — live product page

Copied from Booster’s K1 product table. Geek / Education / Professional share envelope and DoF; battery, runtime, TOPS, Wi-Fi, and warranty diverge. Height is normalized from the vendor’s ~95 cm. Battery energy stays — because voltage is unpublished. Generation Robots and RBTX reseller pages are not used as cells. K1 is not T1.

The same page lists hip / knee / ankle joint ranges, a stereo depth camera, 9-axis IMU, circular 3-mic array + speaker, Bluetooth 5.2, gigabit Ethernet, and a Doubao LLM trial. Those are sensors, ports, and a software trial — not a second DoF total. Reseller tables that print 900 mm height or 95 × 40 × 18 cm are not copied.

PAL Robotics TALOS — vendor product page

Copied from PAL’s live TALOS page. Height is normalized from the vendor’s 175 cm. Arm payload is the page’s “arm fully extended / stretched” rating, not a whole-robot lift. Total DoF is unpublished and stays —. This walking research biped is not TIAGo and is not mixed into the Unitree field table.

Head and gripper are described as fully customizable. That is not a DoF total. Do not use the ROS wiki as a specification source.

Galbot ET1 / 银河星仔 — live product page

Copied from Galbot’s ET1 product specification block on 2026-09-03. Standing height is published as a single millimetre figure, not a full H × W × T envelope. Mass is “with battery.” Total DoF is edition-split: Standard 26; Pro and Flagship 26 + 12 (with dexterous hands). The extra 12 is not split per hand and is not added into a derived whole-body total. High-performance compute is edition-split; Standard has no Orin/NX listing. Payload, speed, battery energy, runtime, IP, list price, SDK, and URDF are unpublished on this page and stay —.

The same product page also advertises a “100M-scale Transformer motion foundation model” and a Buy Now control. Those are architecture and commerce labels, not hardware metrics, and they do not prove that Humanoid-GPT, AstraBrain-WBC 0.5, LDA-1B, WAM-TTT, or LATENT checkpoints run on ET1. Launch demonstrations remain on the ET1 status card.

EngineAI PM01 — 2026 Education and Navigation editions

The current Chinese product page is the controlling source for these two columns. The Education listing literally prints 1 for single-leg DoF while also printing 24 total DoF; the Navigation listing prints 6. That conflict is preserved, not silently “corrected.” The English page still exposes older Business / Education dimensions, masses, processors, and actuator figures; none are averaged into the current Chinese-edition cells.

Fauna Sprout Creator Edition — product page and specification PDF

Fauna publishes a compact body sheet and a separate pose-duration payload matrix. Height, width, depth, and arm length are normalized from centimetres to millimetres. The vendor’s “29 DoF” includes two articulated eyebrows. Payloads are theoretical, per arm, and may not be supported by the current teleoperation controller; they stay in a condition table instead of a generic arm-load row.

Per-arm payload by pose and duration

This matrix is not joined to the field table. A bent-elbow peak for less than 10 seconds is not a rated fully-extended arm load.

NEURA Robotics 4NE1 Gen 3.5 — product, datasheet, and reservation

The datasheet’s payload is a 10–100 kg application-dependent range influenced by payload location, end effector, and robot configuration. It is recorded under the vendor’s label and is not converted into an arm-load claim. The page also advertises wheel versions and seventh-axis variants; those forms and configurations are not collapsed into this Gen 3.5 biped column.

Same-class field — bipeds with a published sheet

Only bipeds with an adequate sheet appear. AgiBot A2 is reseller-sourced (Generation Robots) and every A2 cell carries the reseller label. AgiBot X2 / X2 Ultra, Fourier GR-2, UBTECH Walker S2, and Leju Kuavo stay in their own family tables so a reseller A2 cell is never mixed with a vendor X2 cell, and a gated UBTECH page is never mixed with a Leju manual. LATENT is not a hardware table entry. Arm load is split into rated and peak rows rather than collapsed: Unitree publishes both for H2 but only a posture-dependent maximum for G1. Reach is split by definition — arm span (G1) and forearm + upper arm length (H2) are different measurements and never share a row. Environment rows exist only where a vendor or reseller states them; neither Unitree page publishes an operating temperature, so no temperature row is invented.

Galbot ET1 has its own family table and is not mixed into this G1 / H2 / A2 field sheet. Arm-load definitions here are Unitree/A2 rows, not ET1’s unpublished payload cell.

Engineering models

Official Unitree robot models, linked as downloads. Formats are identified per link. Every URDF here is assembled live on the 3D models page; that page is publication evidence and adds no specification.

• Unitree ROS — URDF descriptions under unitree_ros. github.com/unitreerobotics/unitree_ros BSD-3-Clause [M6]
• Unitree MuJoCo — MJCF models under unitree_mujoco. github.com/unitreerobotics/unitree_mujoco BSD-3-Clause [M7]
• Unitree model dataset — URDF / MJCF / USD / STL / DAE assets. huggingface.co/datasets/unitreerobotics/unitree_model BSD-3-Clause [M8]
• AgiBot X2 Ultra — URDF v1.4.0 with STL meshes; assembled on the 3D models page. github.com/AgibotTech/agibot_x2_urdf Mulan PSL v2
• Fourier GR2 — URDF v3.0.1 with STL meshes (GPL-3.0; live load only). github.com/FFTAI/Wiki-GRx-Models GPL-3.0
• Leju Kuavo — vendor ROS package with versioned descriptions; not assembled on the 3D models page. github.com/LejuRobotics/kuavo-ros-opensource
• UBTECH Walker S2 — no public official URDF or CAD package was verified on 2026-08-28.
• Booster T1 / K1 — SDK and open-source portal; no commit-pinned URDF is assembled here. booster.tech/open-source [M17]
• LimX Oli — vendor claims a complete URDF; no commit-pinned file is assembled here. limxdynamics.com/en/products/oli [M18]
• PAL TALOS — product page claims a URDF with inertial data; no commit-pinned file is assembled here. pal-robotics.com/robot/talos [M20]
• Galbot ET1 — live product table above; no public official URDF, SDK, or description package appeared in Galbot’s developer sitemap or public GitHub organization when rechecked on 2026-09-03. [M2] [M3]
• EngineAI PM01 — commit-pinned URDF is assembled on the 3D models page; the current 2026 product sheet is above. [M16]
• Fauna Sprout Creator Edition — product page lists simulation compatibility but no public official URDF or model repository was verified on 2026-09-04. [M24]
• NEURA 4NE1 Gen 3.5 — product, datasheet, and reservation pages publish no public engineering-model package. [M26] [M27] [M28]