GR2
GR2 is the second-generation general-purpose humanoid robot from Fourier Intelligence (Shanghai). 175 cm, 63–65 kg, 53 DOF with 12-DOF tactile hands. Features FSA 2.0 actuators (380+ Nm peak torque), swappable battery (~2 hrs), and ROS/Isaac Lab/MuJoCo compatibility. Deployed at ETH Zurich, Carnegie Mellon, and enterprise pilots in healthcare and manufacturing.
Primary use case: Healthcare rehabilitation research, embodied AI research, industrial human-robot collaboration
Height
175 cm
Weight
63 kg
DOF
53
Payload
3 kg
Battery
4 hrs
Price
$125K
Specifications
Physical
Height
175 cm
Weight
63 kg
Degrees of Freedom
53
Locomotion
bipedal
Manipulation
Hand Type
5-finger dexterous
Payload
3 kg
Max Lift/Arm
5 kg
Power & Autonomy
Battery Life
4 hrs
Charging Time
2 hrs
Commercial
Price
$125K
Availability
available
Primary Use Case
Healthcare rehabilitation research, embodied AI research, industrial human-robot collaboration
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Boston Dynamics Builds Atlas Hands That Can Hold a Drill and a Mini Fridge - TechEBlog -
Boston Dynamics unveiled a new gripper for its Atlas humanoid, the GR3, which drops the pinky for four fingers and jumps from 7 to 13 degrees of freedom. Engineers prioritized function over a human look, packing motors inside the fingers for force sensing and durability while using simulation to train grasps for tools like drills, grinders, and welding torches.
Robot Hands for Modern AI and Real Work
Boston Dynamics unveiled a new 13 DOF, 4-fingered hand for its Atlas humanoid robot, replacing the previous 7 DOF GR2 hand. The hand features direct, backdrivable actuation, dense tactile sensing, and an anthropomorphic design optimized for sim-to-real reinforcement learning and dexterous tool use. The team intentionally omitted a pinky finger after internal experiments showed the added complexity wasn't worth the marginal dexterity gain.
Boston Dynamics Gives Atlas Four-Finger Hands Built for Tools and AI Training
Boston Dynamics unveiled new four-finger, 13-degree-of-freedom hands (GR3) for its Atlas humanoid, replacing the prior seven-DOF GR2 design. The hands add an opposable thumb, tactile sensing across the palm and fingertips, and directly actuated joints, enabling in-hand manipulation, tool operation, and reinforcement learning in simulation. Boston Dynamics deliberately omitted a fifth finger to limit cost, size, and potential failure points.