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HumanoidFourier (Fourier Intelligence)2024CN

Fourier GR-2

Second-generation Fourier humanoid (Sept 2024) with 53 DOF including 12-DOF hands and a detachable battery.

activeBuyL1 Compilednot buildable

Difficulty index

10.5/13
10.5
Index breakdown
Classhumanoid+5
Costunknown · midpoint+1.5
DOF53 DOF+3
Partsunknown · midpoint+1
How the index works

Top of the ladder. This robot lives on the humanoid domains.

Specimen photographs

4 items
  • Fourier GR-2 studio render, three-quarter front view
    Studio render of the published URDF, the model's zero pose. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from FFTAI/Wiki-GRx-Models (GPL-3.0) · Hyperspawn render · source
  • Fourier GR-2 studio render, side view
    Side view of the same URDF render, the model's zero pose.Rendered by Hyperspawn from FFTAI/Wiki-GRx-Models (GPL-3.0) · Hyperspawn render · source
  • 4 s turntable of the URDF studio render.Rendered by Hyperspawn from FFTAI/Wiki-GRx-Models (GPL-3.0) · Hyperspawn render · source
  • 📣 Say hello to GR-2! 📣Fourier · official video, embedded · source

Spec card

6/13 known
Degrees of freedom
53
Height
175 cm
Mass
63 kg
Payload
3 kg
Runtime
120 min
Actuators
Fourier FSA 2.0 actuators (>380 N·m peak)

Not in the registry: speed, battery, price, bom total, part count, compute, sensors. Left blank rather than guessed.

What you learn building it

  • +Whole-body control
  • +Dozens of actuators on one bus
  • +Balance and fall handling
  • +Safe bring-up of a full-size machine
  • +Testing in simulation (URDF/MJCF) before touching hardware

Openness

30/100
  • not publicCAD
  • not publicBOM
  • not publicFirmware
  • publicSim model
  • publicSoftware
  • not publicPolicies

Score 30/100 computed from what is public: CAD 25, BOM 20, sim 20, firmware 15, software 10, policies 10. Hardware license: Proprietary. Software license: MIT AND GPL-3.0 AND Apache-2.0.

Repos & models

URDF ↗
SiteDocs

Build it

Closed hardware. Buy link only.

humanoidrobot.build/fourier/gr2 · Closed hardware. Buy link only.

Simulate

Load it in the browser simulator and train a policy before building.

Open on humanoidrobots.training ↗

Next rung

None. This is the top. Find people building it on humanoidrobots.team.

This is the top of the ladder.

NotePayload is 3 kg per arm. Fourier has since launched GR-3. Licenses: fourier-grx-GR2 MIT, Wiki-GRx-Models GPL-3.0, fourier_aurora_sdk Apache-2.0; fourier_lab has no license file.

Sources

  1. [1]Wikipedia: Fourier (company)checked 2026-09-24
  2. [2]The Robot Report GR-2 launchchecked 2026-09-24