The Fourier GR-1 arrived in 2023 as one of the first full-size general-purpose humanoid robots accessible to research buyers outside the very largest institutions. Where previous full humanoids either cost hundreds of thousands of pounds (ASIMO, Atlas) or were limited in capability (NAO, Pepper), the GR-1 offered a genuine 44 DOF bipedal humanoid with human-scale proportions, ROS2 support, and a price point that UK universities and research groups could realistically consider.
Fourier Intelligence, the Shanghai-based company behind the GR-1, has a background in rehabilitation robotics -- specifically powered exoskeletons for patients with mobility impairments. This heritage is visible in the GR-1's design: the joint actuators, control systems, and safety architecture reflect decades of experience building systems that interact directly with the human body. The result is a humanoid robot that research teams have found more mature in its physical design than its price point might suggest.
UK interest in the GR-1 has been driven primarily by university research groups working on bipedal locomotion, full-body manipulation, and rehabilitation applications. As early UK adopters refresh hardware, a secondary market is beginning to emerge.
This guide covers GR-1 specifications, UK import considerations, ROS2 and SDK support, research and rehabilitation use cases, SDK access and account transfer, and how the GR-1 compares to the Unitree G1 and H1.
> Quick answer: The Fourier GR-1 is a capable full-size research humanoid with genuine ROS2 support, 44 DOF, and a rehabilitation-focused heritage that makes it well-suited for UK research institutions working on locomotion, manipulation, and assistive robotics. Used units are rare but beginning to appear at £40,000 to £60,000. Budget an additional 24 percent for UK import costs on units sourced from outside the UK. Verify SDK access transfer before purchase.
Fourier GR-1 Specifications
| Specification | Value |
|---|---|
| Height | 1.65 m |
| Weight | 35 kg |
| Payload | 12 kg (held payload in arms) |
| Degrees of freedom | 44 |
| Walking speed | Up to 1.5 m/s |
| Stair climbing | Supported |
| Battery life | Approximately 60-90 minutes |
| Operating system | Fourier Intelligence SDK, ROS2 |
| Onboard compute | Intel i7 + NVIDIA GPU |
| Sensors | IMU, joint torque sensors, depth cameras |
The 44 DOF represent a full-body kinematic design: 12 DOF in the legs (6 per leg), 14 DOF in the arms (7 per arm), 6 DOF in the hands, and additional DOF in the waist and head. This level of kinematic completeness enables research into whole-body control, coordinated arm-leg movement, and manipulation-while-walking tasks that simpler platforms cannot address.
The 12 kg payload is a meaningful figure for manipulation research: it allows the GR-1 to handle real objects of significant weight, going beyond the light-touch manipulation of lower-payload arms. The onboard Intel i7 and NVIDIA GPU provide sufficient compute for real-time perception, planning, and control algorithms without requiring an external compute station.
Fourier Intelligence and Rehabilitation Heritage
Fourier Intelligence was founded in 2015 in Shanghai. Before the GR-1, the company was known primarily for its Fourier X1 and X2 powered exoskeletons, which are used in rehabilitation clinics in China, Europe, and the UK for gait rehabilitation. The company has clinical partnerships with rehabilitation hospitals and has accumulated substantial experience in designing actuators that interact safely with human movement patterns.
This background has practical implications for GR-1 buyers:
- Actuator quality. Rehabilitation exoskeletons must meet demanding standards for reliability and safety. The actuator design philosophy in the GR-1 reflects this heritage.
- Safety architecture. The GR-1's control systems include collision detection and emergency stop capabilities designed for close human proximity.
- Rehabilitation applications. Research groups working on robotic assistance for mobility, gait training, and physical rehabilitation find the GR-1 a natural fit given Fourier's existing relationships and software frameworks in this space.
ROS2 Support and SDK
Fourier Intelligence provides an open-source SDK for the GR-1, hosted on GitHub. The SDK includes:
- URDF and mesh files for simulation and motion planning
- ROS2 packages for joint state, IMU, and force-torque sensor topics
- Hardware abstraction layer for joint control
- Locomotion and whole-body control examples
- MoveIt2 configuration for upper body manipulation
The ROS2 integration is compatible with ROS2 Humble on Ubuntu 22.04. Fourier has also provided simulation support via Isaac Sim, enabling algorithm development and testing without requiring the physical robot.
The developer community around the GR-1 is smaller than that around Spot or UR cobots, but growing. Several UK universities have contributed to the SDK documentation and example code. For buyers with in-house robotics software capability, the GR-1's open SDK is a genuine advantage over platforms with restricted software access.
SDK account transfer. The GR-1 SDK is open source and does not require account-based licensing. However, some Fourier Intelligence cloud services (telemetry, remote support) may be tied to the original purchaser's account. Confirm with the seller that any Fourier Intelligence account associations are transferred or deregistered, and that the robot can be registered under a new account without restriction.
Research and Rehabilitation Use Cases
Bipedal locomotion research. The GR-1's full-body kinematics make it a suitable platform for locomotion research including stair climbing, rough terrain navigation, and dynamic walking. The ROS2 integration and open SDK enable researchers to implement and test custom locomotion controllers.
Whole-body manipulation. Combining bipedal locomotion with arm-based manipulation -- picking up objects while walking, carrying loads between locations, operating workplace interfaces -- is a central challenge in humanoid robotics. The GR-1's 44 DOF and onboard compute support research into this problem area.
Rehabilitation robotics. Fourier's exoskeleton heritage creates natural synergies for rehabilitation research. Research groups working on human-robot physical interaction, gait assist systems, and physical therapy robotics have used the GR-1 as a test platform for algorithms intended to eventually be deployed in clinical exoskeletons.
Human-robot interaction. The GR-1's human scale and proportions make it useful for research into how humans interact with full-size humanoid robots, including proxemics, collaborative task performance, and social interaction.
Industrial simulation. Some research groups use full-size humanoids to simulate human workers in industrial settings, studying how robots might perform tasks currently done by people. The GR-1's payload and range of motion make it suitable for this application.
UK Import Considerations
The GR-1 is manufactured in Shanghai. UK buyers sourcing a new or used unit from China or via a non-UK reseller face the following:
Customs duty. Under current UK Global Trade Tariff rules, industrial robots fall under HS code 8479.50 with a standard duty rate of approximately 3.7 percent. This is applied to the declared customs value (CIF: cost including shipping and insurance).
Import VAT. UK import VAT at 20 percent applies to the customs value plus duty. This is reclaimable by VAT-registered businesses but represents a cash flow impact.
Total import cost. Budget approximately 24 to 25 percent on top of the purchase price for duty, VAT, and shipping. On a £60,000 used unit, this adds approximately £14,000 to £15,000 to acquisition cost.
EU-based intermediary. Some buyers source GR-1 units via EU-based distributors. UK-EU trade now involves UK import duty and VAT regardless of whether the goods originated in China or the EU, so the import costs are similar. Check whether a EU seller has properly paid Chinese export duties -- if not, UK customs may query the declared value.
UKCA/CE marking. For commercial deployment in the UK, industrial robots must meet UKCA (or retained CE) requirements. Units imported for research use by universities face fewer formal requirements, but commercial operators should verify compliance status with Fourier Intelligence or their importer.
What to Inspect on a Used GR-1
Leg actuators. The knee and ankle joints carry the highest mechanical loads during bipedal walking and stair climbing. These should be the primary focus of any mechanical inspection. Ask the seller to demonstrate walking on flat ground and, if the unit is capable, stairs. Listen for unusual sounds from any joint and check the torque sensor readings for the knee and ankle joints.
Operating log. Request the full operating log from the onboard system. This should include total operating hours, locomotion distance, joint cycle counts, and any fault or error events. Research units are often pushed hard -- locomotion testing can accumulate significant joint cycles in a relatively short operating time.
Compute hardware. Run the onboard i7 and GPU under load and check for thermal throttling or unexpected shutdowns. Research robots sometimes have additional sensors or compute hardware fitted by the previous operator -- verify that any modifications are documented and reversible.
Battery condition. The 60 to 90 minute battery life assumes a healthy battery. Check battery health via the SDK diagnostic tools. Degraded batteries will significantly reduce useful operating time between charges. Battery replacement costs and lead times from Fourier Intelligence should be confirmed before purchase.
Sensor integrity. Check all onboard depth cameras and the IMU. The cameras should produce clean point clouds in the ROS2 sensor topics. The IMU should report clean orientation estimates with no drift or noise spikes.
Software and firmware. Confirm the current firmware version and SDK version. Verify that the robot can be connected to a new ROS2 installation and that the SDK examples run correctly.
Fourier GR-1 vs Unitree G1 vs Unitree H1
| Feature | Fourier GR-1 | Unitree G1 | Unitree H1 |
|---|---|---|---|
| Height | 1.65 m | 1.27 m | 1.8 m |
| Weight | 35 kg | 35 kg | 47 kg |
| DOF | 44 | 43 | 19 |
| Payload | 12 kg | 3 kg | Not specified |
| Walking speed | 1.5 m/s | 2.0 m/s | 1.5 m/s |
| Onboard GPU | Yes | Yes | Yes |
| ROS2 support | Yes | Yes | Yes |
| New price (approx.) | £80,000-£90,000 | £15,000-£20,000 | £55,000-£65,000 |
| Used price (UK) | £40,000-£60,000 | £10,000-£15,000 | £25,000-£40,000 |
| Rehabilitation focus | Strong | Limited | Limited |
Unitree G1 is a dramatically lower cost option that has attracted significant UK research interest since its launch. At £15,000 to £20,000 new, the G1 is accessible to a far broader range of research budgets. Its 43 DOF and 2 m/s walking speed are competitive. However, its 3 kg payload is significantly below the GR-1's 12 kg, and its rehabilitation application ecosystem is less developed. For general locomotion and manipulation research on a tight budget, the G1 is compelling value. For rehabilitation applications and tasks requiring higher payload, the GR-1 is preferable.
Unitree H1 is a full-size humanoid at a mid-range price. Its 19 DOF is substantially fewer than the GR-1's 44, limiting its application range for manipulation and rehabilitation research. For pure locomotion research, the H1's simpler design and lower DOF are easier to control. For whole-body manipulation and rehabilitation applications, the GR-1's higher DOF and rehabilitation heritage are material advantages.
Finding a Used GR-1 in the UK
The GR-1 secondary market in the UK is at an early stage. Routes to finding units:
- UK university research contacts. Robotics and engineering departments at UK universities are the most likely source of used GR-1 units. Groups working on humanoid locomotion, rehabilitation, or whole-body manipulation may have units to sell as they upgrade.
- Fourier Intelligence. Contact Fourier Intelligence directly. The company is aware of where their research units are deployed and may facilitate transactions or provide leads.
- Research equipment platforms. Surplex, ORION, and similar platforms list laboratory and research equipment and occasionally handle robotics.
- Robot AutoTrader. The used humanoid robot listings and resale index cover humanoid availability in the UK. Full GR-1 specifications are in the robot database.
Summary
The Fourier GR-1 is the most capable rehabilitation-heritage humanoid robot available to UK research buyers at its price point. Its 44 DOF, 12 kg payload, genuine ROS2 support, and onboard GPU provide a complete platform for bipedal locomotion, whole-body manipulation, and rehabilitation robotics research.
The UK secondary market for GR-1 units is in its early stages, but growing as initial research deployments mature. Buyers who approach a purchase systematically -- checking actuator health, verifying SDK access, confirming import costs, and securing full operating logs -- are well placed to acquire a capable research platform at a significant saving over new pricing.
For UK buyers comparing the GR-1 to the Unitree G1, the decision rests primarily on payload requirements and rehabilitation application focus. For payload above 3 kg or rehabilitation-oriented research, the GR-1's advantages justify the higher price. For general locomotion research on a limited budget, the G1's dramatically lower cost is compelling.