Class definition
IFR classifies a robot arm on an autonomous mobile platform as two systems: the manipulator is counted as an industrial robot and the platform as a service robot. Spec-table comparability on this page is by physical form. Galbot columns use wrist-center payload, reach, and workspace. Stretch 3 uses a single telescoping arm and a recommended 2 kg payload from its hardware guide — that number is not dumped into a Galbot wrist-center cell.
Galbot G1 / S1 — vendor manuals
Sources: Galbot G1 Quick Start v2.2.4 and Galbot S1 manual v2.0.0. Payload is wrist-center. Runtime is laboratory, 60% average speed. Derived Wh is V × Ah.
| Metric | Galbot G1 | Galbot S1 |
|---|---|---|
| Identity | ||
| Class | Wheeled dual-arm general-purpose robot [M1] | Industrial heavy-load mobile manipulator [M2] |
| Manual version | Quick Start v2.2.4 [M1] | Manual v2.0.0 [M2] |
| Geometry | ||
| Maximum height | 1730 mm [M1] | 1793 mm [M2] |
| Arm (shoulder → wrist) | 710 mm [M1] | 920 mm [M2] |
| Lift | 650 mm [M1] | 750 mm [M2] |
| Workspace (wrist center) | vertical 0–2100 mm; horizontal 1900 mm [M1] | horizontal 0–2400 mm; vertical 2390 mm [M2] |
| Capacity | ||
| Payload (wrist center) | 5 kg/arm; 10 kg total [M1] | 15 kg/arm; 30 kg total [M2] |
| Body mass | 92.5 kg [M1] | 320 kg [M2] |
| Mobility | ||
| Base | 4-wheel omnidirectional [M1] | 4-steer omnidirectional [M2] |
| Footprint (L × W / circle) | 600 × 600 mm; ⌀625 mm [M1] | 730 × 730 mm [M2] |
| Maximum speed | 1.5 m/s [M1] | 1.5 m/s [M2] |
| Kinematics (excl. chassis and end effector) | ||
| Neck / arms / waist | 2 / 7×2 / 3 [M1] | 2 / 7×2 / — [M2] |
| Lift / legs | legs 2 [M1] | lift 1 [M2] |
| Compute & communication | ||
| Compute | NVIDIA AGX Orin 64 GB, 275 TOPS [M1] | NVIDIA AGX Orin 64 GB, 275 TOPS [M2] |
| Network | Wi-Fi 2.4/5 GHz, Bluetooth 5.2 [M1] | Wi-Fi 2.4/5 GHz, Bluetooth 5.2 [M2] |
| Screen | 5.5″ touch, 1920 × 1080 [M1] | 7″ touch [M2] |
| Audio | 4-mic array ×2; 5 W speaker ×2 [M1] | 5 W speaker ×1 [M2] |
| Sensors | ||
| Head | stereo camera ×1 [M1] | stereo camera ×1 + 3D radar ×1 [M2] |
| Torso / column | RGB camera ×4, IMU ×2 [M1] | 3D LiDAR ×1; safety bumper [M2] |
| Wrists | depth camera ×2, 6-axis force sensor ×2 [M1] | depth camera ×2 [M2] |
| Chassis | 3D LiDAR ×1, ultrasonic ×8, IMU ×1 [M1] | 3D LiDAR ×1 [M2] |
| Energy | ||
| Battery | 48 V, 30 Ah [M1] | 48 V, 30 Ah ×2, hot-swap [M2] |
| Battery energy (derived) | ≈1440 Wh (48 V × 30 Ah) [M1] | ≈2880 Wh (48 V × 30 Ah × 2) [M2] |
| Charge time | 3.5 h (54.6 V, 10 A) [M1] | 2.0 h per pack [M2] |
| Runtime | 8 h [M1] | 8 h [M2] |
| Safety & environment | ||
| Temperature | 0–40 °C [M1] | 0–40 °C [M2] |
| Humidity | ≤90% RH, no condensation [M1] | 0–90% RH, no condensation [M2] |
| Altitude / scope | <2000 m; indoor [M1] | indoor [M2] |
| Standoff | 1.5 m [M1] | 2 m [M2] |
| Buttons | power, e-stop, teach [M1] | power, e-stop [M2] |
| Standard / optional | wired charger std; wireless dock, spare pack, remote controller opt [M1] | wired charger + wireless remote std; wireless e-stop opt [M2] |
| Interfaces & assets | ||
| I/O | USB 3.0 ×2, HDMI [M1] | USB 3.0 ×2, Ethernet [M2] |
| Crate | — | 1085 × 1070 × 2005 mm [M2] |
| Sim assets | URDF / MJCF / USD [M3] | URDF / MJCF / USD [M4] |
Deploy / company (press, outside the manual)
- Founded May 2023; CTO He Wang (PKU EPIC). Wheeled G1 first; humanoid research separate (LATENT on Unitree G1). [P1]
- The Robot Report 2025-12-23: $300M round, $800M cumulative, $3B valuation; $153M earlier in 2025. Orders “thousands of units”; partners named CATL, Bosch, Toyota, Hyundai; Galbot Store in 30+ Chinese cities. [P1]
Same-class field — wheeled dual-arm platforms
Every column is a wheeled dual-arm mobile manipulator with a vendor sheet, so the table is a field rather than a second copy of the Galbot family table. Payload is wrist-centre for the two Galbot columns; AgiBot does not publish a wrist-centre figure, so its stated one-arm holding load sits on its own row and never in the payload row. Stretch 3 is a single telescoping arm and stays in its own table; no biped, quadruped, or exoskeleton shares this table.
| Metric | Galbot G1 | Galbot S1 | AgiBot G1 |
|---|---|---|---|
| Vendor | Galbot [M1] | Galbot [M2] | AgiBot (智元) [M7] |
| Height | 1730 mm [M1] | 1793 mm [M2] | 1300–1800 mm, adjustable torso [M7] |
| Mass | 92.5 kg [M1] | 320 kg [M2] | 150 kg [M7] |
| Payload (wrist center) | 5 kg/arm; 10 kg total [M1] | 15 kg/arm; 30 kg total [M2] | not published as a wrist-center figure [M7] |
| Stated one-arm holding load | — | — | 3 kg held continuously; pose not stated [M7] |
| Reach (wrist, h / v) | 1900 / 2100 mm [M1] | 2400 / 2390 mm [M2] | — |
| Arm span | — | — | 700 mm [M7] |
| Stated working height | 0–2100 mm wrist-centre workspace [M1] | 0–2400 mm wrist-centre workspace [M2] | over 2000 mm; definition not stated [M7] |
| Body DoF (no base/EE) | 21 (neck 2 + arms 7×2 + waist 3 + legs 2) [M1] | 16 (neck 2 + arms 7×2 + lift 1) [M2] | 20, excluding end-effector; the same page’s prose says 26 total — the two figures are not collapsed [M7] |
| End-effector | wrist-centre payload measured without a named end-effector [M1] | wrist-centre payload measured without a named end-effector [M2] | 6 DoF, replaceable with a two-finger gripper [M7] |
| Force sensing | — | — | six-axis force sensor on both arms [M7] |
| Base speed | 1.5 m/s [M1] | 1.5 m/s [M2] | — |
| Obstacle clearance | — | — | 20 mm [M7] |
| Battery energy (derived) | ≈1440 Wh (48 V × 30 Ah) [M1] | ≈2880 Wh (48 V × 30 Ah × 2) [M2] | — |
| Runtime | 8 h, lab at 60 % average speed [M1] | 8 h, lab at 60 % average speed [M2] | 4 h+; no duty cycle stated [M7] |
| Compute | AGX Orin 64 GB, 275 TOPS [M1] | AGX Orin 64 GB, 275 TOPS [M2] | Jetson AGX Orin 64 GB; TOPS not stated [M7] |
| Sensors | stereo ×1, RGB ×4, depth ×2, LiDAR ×1, ultrasonic ×8 [M1] | stereo ×1, 3D radar ×1, depth ×2, LiDAR ×1 [M2] | RGB-D ×3, fisheye ×5 on the upper body; chassis RGB-D front and rear + LiDAR [M7] |
| Environment | 0–40 °C, ≤90 % RH, indoor [M1] | 0–40 °C, 0–90 % RH, indoor [M2] | — |
Hello Robot Stretch 3 — telescoping-arm peer
Product-page summary plus the Stretch 3 hardware guide. Envelope converted from centimetres to millimetres. Recommended max payload is 2 kg at the telescoping arm, not a Galbot wrist-center 5 kg figure. Gripper mass 240 g is an end-effector mass, not an extra payload. Reach 0.52 m is copied as 520 mm from the hardware-guide arm section.
| Metric | Stretch 3 |
|---|---|
| Price & identity | |
| Listed price | $24,950 [M5] |
| Class | open-source wheeled mobile manipulator; single telescoping arm [M5] |
| Software | ROS 2 and Python SDK [M5] |
| Envelope & mass | |
| Footprint (L × W) | 330 × 340 mm [M5] |
| Height | 1410 mm [M5] |
| Mass | 24.5 kg [M5] |
| Arm load & reach | |
| Recommended max payload | 2 kg [M6] |
| Arm reach | 520 mm [M6] |
| Gripper mass | 240 g [M6] |
| Kinematics | |
| Manipulator DoF | 7 total: 2 base + 1 vertical lift + 1 telescoping arm + 3 wrist [M5] |
| Other DoF | 1 gripper + 2 head [M5] |
| Wrist kinematics | yaw / pitch / roll [M5] |
| Base | differential drive [M5] |
| Gripper | compliant grabber [M5] |
| Compute, sensors, energy | |
| Onboard computer | Intel NUC 12 [M5] |
| Head RGB-D | Intel RealSense D435if [M6] |
| Gripper RGB-D | Intel RealSense D405 [M6] |
| Navigation laser | RP-Lidar A1 [M6] |
| Runtime | 2–5 h (5 h light CPU; 2 h high CPU) [M5] |
| Charger rating | 12 V / 7 A [M6] |
| Network | Wi-Fi 6E and Bluetooth [M5] |
The product page also writes “2Kg Payload” and “2-5 Hour Runtime”; duty cycle is the hardware-guide / product split (light vs high CPU). The hardware guide states Stretch is not certified as a consumer home device. A calibrated URDF is claimed on the product page; this landscape does not assemble a Stretch preview, so the catalogue lists no verified browser model.
Media & engineering models
Description repositories (Apache-2.0)
- Galbot G1 — URDF / MJCF / USD, visual GLB per link (download links only). github.com/GalaxyGeneralRobotics/galbot_one_golf_description Apache-2.0 [M3]
- Galbot S1 — URDF / MJCF / USD; teaser at
docs/.images/teaser.webp. github.com/GalaxyGeneralRobotics/galbot_s1_description Apache-2.0 [M4]
Neither repository ships an assembled whole-robot GLB: the GLBs are per-link visual meshes, assembled only by the URDF joint tree. Both are assembled that way on the 3D models page, which is publication evidence and adds no specification. Neither model appears in the MuJoCo Menagerie; Isaac Lab ships Galbot cube-stack tasks and the full G1 stack is galbot-ioai/ioailab.