Class definition
IFR counts a robot arm on an autonomous mobile platform as two systems: industrial manipulator plus service platform.
Comparability
Comparability here is physical form. Stretch’s 2 kg recommended load is not 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 | ||
| Onboard SoC# | NVIDIA AGX Orin [M1] | NVIDIA AGX Orin [M2] |
| Onboard memory# | 64 GB [M1] | 64 GB [M2] |
| Stated TOPS# | 275 TOPS; precision/mode unpublished [M1] | 275 TOPS; precision/mode unpublished [M2] |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 | ||
| Pack voltage# | 48 V [M1] | 48 V [M2] |
| Pack capacity# | 30 Ah [M1] | 30 Ah ×2 [M2] |
| Hot-swap# | — | 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
Wheeled dual-arm vendor sheets only. Galbot payload is wrist-centre; AgiBot’s one-arm holding load stays on its own row. Cells are never carried between products or classes.
| 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] |
| Onboard SoC# | NVIDIA AGX Orin [M1] | NVIDIA AGX Orin [M2] | Jetson AGX Orin [M7] |
| Onboard memory# | 64 GB [M1] | 64 GB [M2] | 64 GB [M7] |
| Stated TOPS# | 275 TOPS; precision/mode unpublished [M1] | 275 TOPS; precision/mode unpublished [M2] | — |
| 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
Envelope from centimetres. Recommended payload is 2 kg at the telescoping arm, not Galbot’s 5 kg wrist-center. Gripper 240 g is end-effector mass. Reach 0.52 m is 520 mm.
| 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] |
Product “2Kg Payload” / “2-5 Hour Runtime” follow the hardware-guide duty split (light vs high CPU).
Certification and 3D model
Stretch is not certified as a consumer home device. The SE3 standard-gripper URDF is assembled on the 3D models page; that card is publication evidence and adds no specification.
Pollen Robotics Reachy 2 — bimanual mobile manipulator
Height from centimetres. ~3 kg is payload per arm, not Galbot wrist-center or Stretch’s 2 kg. “Up to 50 kg” is robot mass. The models-page 3D card is Reachy v1, not Reachy 2.
| Metric | Reachy 2 |
|---|---|
| Identity & software | |
| Class# | open-source bimanual mobile manipulator; omnidirectional base [M8] |
| Software# | ROS 2 Humble and Python SDK; VR teleoperation app [M8] |
| Envelope & mass | |
| Adjustable height# | 1360–1660 mm [M8] |
| Full-robot mass# | up to 50 kg [M8] |
| Kinematics & load | |
| Arm DoF (each)# | 7 (Orbita 2D shoulder/elbow + Orbita 3D wrist) [M9] |
| Neck DoF# | 3 (Orbita 3D) [M9] |
| Payload per arm# | ~3 kg [M8] |
| Base# | omnidirectional; LiDAR named on the product page [M8] |
| Vision# | stereo + RGB-D [M8] |
| Onboard computer# | fanless industrial CPU PC; AI off-board at this stage [M9] |
The hardware guide also publishes shoulder/neck offsets from a virtual origin. Those are kinematic reference notes, not a second height. List price is unpublished on the pages used here.
PAL Robotics TIAGo — vendor product specifications
Height and footprint from centimetres. Arm payload is without end-effector. TIAGo is a lifting-torso research platform (0–2 arms), not a Galbot field column or a walking humanoid.
Other payload definitions
It is not Galbot’s wrist-center 5 kg, not Stretch’s 2 kg recommended load, and not Reachy 2’s ~3 kg per-arm marketing figure in another table.
| Metric | TIAGo |
|---|---|
| Envelope & load | |
| Height# | 1100–1450 mm [M10] |
| Footprint# | ø 540 mm [M10] |
| Arm payload# | 3 kg (without end-effector) [M10] |
| Arm DoF (each, when fitted)# | 7 [M10] |
| Arm count (configurator)# | none, one, or two [M10] |
| Energy & software | |
| Stated battery autonomy# | 4–5 h (1 battery) / 8–10 h (2 batteries) [M10] |
| OS# | Ubuntu LTS; real-time OS named [M10] |
| Stated simulation# | open-source simulation named; wiki.ros.org/Robots/TIAGo pointed [M10] |
The configurator also names differential vs omnidirectional bases, Hokuyo / SICK lasers, and interchangeable end-effectors. Those are options, not a second payload. No browser assembly is listed for TIAGo on this site.
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]
GLBs are per-link meshes assembled by the URDF tree on the 3D models page (publication, not a spec). Neither is in MuJoCo Menagerie; Isaac Lab ships Galbot cube-stack tasks; full G1 stack is galbot-ioai/ioailab.