Wheeled-base humanoids
A humanoid upper body on a wheeled or tracked chassis — the same arms, torso and head as a walking humanoid, minus the balancing act.
- wheeled humanoid
- mobile humanoid
- AGIBOT G1AgiBot (Zhiyuan Robotics) · CNPayload 3 kgPrice on quotation
- Astribot S1Astribot (Stardust Intelligence) · CNPayload 5 kgPrice on quotation
- Galbot G1Galbot · CNPayload 10 kgPrice on quotation
What it is
A wheeled-base humanoid puts a torso, two arms and a head on a platform that rolls instead of walks. Nothing has to balance, so it can stand still with the power off, carry heavier arms and bigger batteries, and run a full shift. Most have a lifting column or folding "legs" so the torso can reach from floor to high shelf. The trade is terrain: no stairs, no kerbs, no rough ground. On a flat factory floor that rarely matters, which is why early commercial deployments are here.
Also called a wheeled humanoid or mobile humanoid. In this taxonomy it sits under Humanoid beside bipedal and fixed-base humanoids; the test is the humanoid torso, arms and head on a wheeled or tracked base instead of legs.
What they are used for
- Factory and warehouse tasks — bimanual picking, kitting and tote handling on flat floors, the target of the AGIBOT G1.
- Retail and pharmacy picking — fetching items from shelves at a range of heights, where the Galbot G1 is deployed.
- Data collection for physical AI — teleoperated demonstrations and policy testing, where a base that runs for hours matters more than walking (Astribot S1).
- Home and service research — tidying, folding and kitchen tasks on a platform that cannot fall.
What to compare
| Attribute | Why it matters | In this catalogue |
|---|---|---|
payload |
Per arm and combined; wheeled bases carry more than legged ones | 3 kg (AGIBOT G1) – 10 kg (Galbot G1) |
height |
Many adjust; check the lowest and highest reach, not just standing height | 1730 mm (Galbot G1) – 1800 mm (AGIBOT G1) |
battery_runtime |
Hours rather than minutes, because nothing is spent on balance | 240 min (AGIBOT G1) – 480 min (Galbot G1) |
mass |
Heavy; moving it between sites needs a ramp and a van | 92.5 kg (Galbot G1) – 150 kg (AGIBOT G1) |
drive_config |
Differential, omnidirectional or tracked decides turning space and floor type | omnidirectional (2) |
dof_total |
Arms, waist and head; the base adds few | 20 (AGIBOT G1) – 23 (Astribot S1) |
sdk |
Research and developer editions expose arm and base control | not yet in the catalogue |
In the catalogue
Professional / industrial: AGIBOT G1 · Astribot S1 · Galbot G1
Edge cases
- One arm on a wheeled base: a mobile manipulator.
- Two arms on a base with no head or human-proportioned torso: a mobile manipulator.
- Folding "legs" on wheels (Galbot G1): still wheeled-base; the wheels do the moving.
- A humanoid torso sold without its base: fixed-base humanoid; the base is linked by
compatible_with.
Related
Humanoid · Bipedal humanoid · Fixed-base humanoid · Mobile manipulator · Wheeled robot
Rule of membership
Humanoid torso, two arms AND a head in human proportion, mounted on a wheeled or tracked base instead of legs. A bimanual torso with a sensor mast but no head, or without human proportions, is a mobile manipulator (rb-5).
Category rb-2-2 in the whatrobot taxonomy.