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Bipedal humanoids

A humanoid that walks on two legs — the robot most people picture when they hear the word, and the hardest body plan to balance, power and pay for.

  • walking humanoid
  • legged humanoid

What it is

A bipedal humanoid has a torso, two arms and a head on two articulated legs that carry it. Like a person, most modern bipeds walk dynamically, leaning into each step and catching themselves, so the controller never rests. That is what it buys with its complexity — stairs, kerbs, narrow aisles, the whole built environment — and what it pays for in runtime, mass, price and the risk of a fall.

Also called a walking or legged humanoid. In this taxonomy it sits under Humanoid beside wheeled-base and fixed-base humanoids; the test is the humanoid form plus two legs used for locomotion. Size does not matter: child-size platforms such as the Unitree G1 sit beside full-size robots like the Unitree H2.

What they are used for

  • Research and development — locomotion, whole-body control and learned policies, on platforms with joint-level APIs and simulator models (Unitree G1, LimX Oli, ENGINEAI PM01).
  • Warehouse and factory handling — moving totes and cases between conveyors, shelves and carts (Digit, UBTECH Walker S2).
  • Reception, guiding and performance — public-facing roles in showrooms, museums and events (AGIBOT A2).
  • Care and companionship — assisted-living and home settings, the aim of the Fourier GR-3.
  • Home help — the first consumer humanoids, led by the 1X NEO, with remote operators covering unlearned tasks.

What to compare

Attribute Why it matters In this catalogue
height Full-size reaches real counters; child-size is cheaper, lighter and safer to work beside 1200 mm (Booster T1) – 1810 mm (Agility Robotics Digit)
mass Decides whether one person can right it after a fall 30 kg (1X Technologies NEO) – 129 kg (Agility Robotics Digit)
dof_total Counts rise sharply once dexterous hands are fitted 23 (Booster T1) – 55 (Fourier GR-3)
hands_included Base models often ship with no hands or simple grippers none (5)
payload Quoted per arm, per hand or for both arms together 2 kg (AGIBOT A2) – 25 kg (1X Technologies NEO)
battery_runtime Walking time, not standing time; swappable batteries matter for shifts 90 min (AGIBOT A2) – 240 min (1X Technologies NEO)
max_speed Most walk at a stroll; a few are built to run 0.5 m/s (Booster T1) – 3.3 m/s (Unitree H1 / H1-2)
sdk Research editions open joint control; consumer and base editions may not ros2 (3), other (1), python (1), proprietary (1)

Price picture (observed 2026-10-28)

  • Professional / industrial: USD 44,560 (AGIBOT A2) to USD 243,275 (UBTECH Walker S2).
  • Research: USD 13,500 (Unitree G1) to USD 90,000 (Unitree H1 / H1-2).
  • Education, hobby & consumer: USD 20,000 (1X Technologies NEO).
  • On quotation: Agility Robotics Digit, ENGINEAI PM01, Fourier GR-3.

Prices are the latest observation per product, in the seller's currency; see each record's offers for history and VAT notes.

In the catalogue

Professional / industrial: AGIBOT A2 · Agility Robotics Digit (announced) · Fourier GR-3 · LimX Oli · UBTECH Walker S2
Research: Booster T1 (discontinued) · Booster T2 · ENGINEAI PM01 · Unitree G1 · Unitree H1 / H1-2 · Unitree H2
Education, hobby & consumer: 1X Technologies NEO (preorder)

Edge cases

  • Child-size research humanoids (Booster T1): still bipedal humanoids; height records the size.
  • Two legs, no torso: a biped under Legged robot.
  • Remote-operator fallback (NEO): does not change the category; it is the autonomy attribute.
  • Hands as an option: still a humanoid without them; hands_included: none or optional.

Related

Humanoid · Wheeled-base humanoid · Fixed-base humanoid · Biped · Hand

Rule of membership

Humanoid form with two articulated legs used for locomotion.

Category rb-2-1 in the whatrobot taxonomy.