GR-2

Overview

GR-2 is Fourier Robotics' second-generation full-size humanoid, launched in September 2024. It builds on the GR-1 — positioned by Fourier as the world's first mass-produced humanoid — with upgraded FSA 2.0 actuators, doubled hand degrees of freedom, and a hot-swappable battery system. The platform targets research institutions and AI developers.

GR-2 stands 175 cm tall and weighs 63 kg with 53 degrees of freedom across the whole body, per Fourier's official documentation. Single-arm load capacity is 3 kg. The robot uses Fourier's FSA 2.0 actuators — seven distinct variants, each matched to the specific torque demands of different joints — with peak torques exceeding 380 N·m. The dual-encoder system doubles control accuracy compared to the GR-1. Each dexterous hand has 12 degrees of freedom, double the previous generation. Six array-type tactile sensors allow force detection, material identification, and real-time grip adjustment.

GR-2 uses an integrated cabling design with concealed wiring and a serial joint structure — a change from GR-1's parallel layout. Fourier states this reduces manufacturing costs and simplifies debugging. The development platform supports NVIDIA Isaac Lab, ROS, and MuJoCo. Battery runtime is 2 hours, per Fourier's official product page.

Fourier launched GR-2 on September 26, 2024, describing it as the second member of the GRx humanoid series. Fourier positioned the GR-1 as the world's first mass-produced humanoid robot. Confirmed research partners listed on the official GR-2 product page include ETH Zurich, Carnegie Mellon University, Simon Fraser University, and Tsinghua University. Fourier was founded in 2015 and is headquartered in Shanghai, China. No public retail pricing for GR-2 is listed; contact Fourier directly.

Specifications

Sensors

Software