Control ApproachOfficial claim
Classical control
Fourier IntelligenceGR
GR-1
Price
Unknown
Type
Humanoid Robots
Subtype
Human-scale Humanoid
Status
Commercial
Release Date
2023
Country/Region
China
Last Verified
2026-07-29
54 DOF
Total DOF
1.65 m
Height
55 kg
Weight
3 kg per hand
Payload
Fourier GR-1 is the base commercial humanoid variant with a 54-DOF body, 44 actuators, dexterous hands, 5 km/h walking speed, 3 kg single-handed payload and 460 Wh battery capacity for general-purpose work and research.
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Intelligence Profile
Capability Map
MobilityOfficial claim
Walking
The official GR-1 documentation lists gait motion and describes human-like gait motion control.
MobilityOfficial claim
Balance
Fourier describes a dynamic coordination self-balance algorithm and lists static standing as a motion mode.
MobilityOfficial claim
Navigation
The documentation describes visual perception for obstacle avoidance and environmental awareness.
ManipulationOfficial claim
Grasping
The official variant table lists end-effector gripping, and the document describes the hand as capable of versatile grasping.
InteractionOfficial claim
Speech interaction
The official document describes an onboard speech-recognition system and natural language interaction through a multimodal LLM.
Hardware Specification
Physical Specifications
Arm Span
1680 mm
Frame Material
Skeleton casing
Height
1.65 m
Materials
Aluminum alloy + engineering plastic
Standing Dimensions
1650 × 515 × 320 mm
Weight
55 kg
Mobility & Payload
Single-arm Payload
3 kg
Payload
3 kg per hand
Peak Joint Torque
230 N·m
Walking Speed
1.388889 m/s
Degrees of Freedom
DOF per Arm
7 per arm
DOF per Hand
11 per hand
Head DOF
3 DOF
DOF per Leg
6 per leg
Total DOF
54 DOF
Waist DOF
3 DOF
Mechanical Structure
Actuator Model
Fourier Smart Actuator (FSA)
End-Effector
Dexterous hand
Joint Count
44
Sensors
Depth Camera
RealSense
Battery and Runtime
Battery Capacity
460 Wh
Charger
46 V 2 A
Max Power
550 W
Power Supply
46.2 V
Compute Platform
Onboard Compute
Intel Core i7-13700H, 6P+8E, 20 threads, 1.6/5.0 GHz
Interaction and Communication
Remote Controller
Touchscreen remote controller
Development and Expansion
Secondary Development (SDK)
SDK support for external development
Commercial Status
Status
Commercial
Price
Unknown
Release Date
2023
Related Entities
Timeline
- Robot releaseGR-1
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