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About Fourier N1
Fourier N1 is a biped platform for locomotion-control development and research.
Manufacturer
🏢
Fourier
CN
Key Specifications
Weight
39 kg
Status
ACTIVE
Category
Humanoid
Specifications and equipment / CPU
Intel Core i7-13700H
Specifications and equipment / IMU
6 axes (Acceleration and angular velocity)
Specifications and equipment / RAM
16 GB
Specifications and equipment / Head
0 DOF (Sensor expansion supported)
Specifications and equipment / Waist
1 DOF
Specifications and equipment / Camera
Stereo camera (Optional)
Specifications and equipment / Weight
≈39 kg (Another section states 38 kg)
Joint limits / waist yaw: Torque limit
54 N·m (Control upper limit)
Specifications and equipment / Storage
512 GB (NVMe)
Specifications and equipment / Arm span
1240 mm
Specifications and equipment / Material
Aluminium alloy and engineering plastic
Joint limits / waist yaw: Velocity limit
14.738 rad/s (Control upper limit)
Specifications and equipment / I/O ports
HDMI; Type-C; Type-A
Specifications and equipment / Total DOF
23 DOF
Joint limits / left hip yaw: Torque limit
54 N·m (Control upper limit)
Joint limits / waist yaw: Position limits
-2.617…2.617 rad (Lower…upper limit)
Specifications and equipment / Single arm
5 DOF
Specifications and equipment / Single leg
6 DOF
Joint limits / left hip roll: Torque limit
54 N·m (Control upper limit)
Joint limits / right hip yaw: Torque limit
54 N·m (Control upper limit)
Specifications and equipment / Rated power
≈460 W
Joint limits / left hip pitch: Torque limit
90 N·m (Control upper limit)
Joint limits / left hip yaw: Velocity limit
14.738 rad/s (Control upper limit)
Joint limits / left wrist yaw: Torque limit
30 N·m (Control upper limit)
Joint limits / right hip roll: Torque limit
54 N·m (Control upper limit)
Specifications and equipment / Battery life
≈120 min (Load and mode unspecified)
Specifications and equipment / Battery type
Lithium-ion
Joint limits / left ankle roll: Torque limit
30 N·m (Control upper limit)
Joint limits / left hip roll: Velocity limit
14.738 rad/s (Control upper limit)
Joint limits / left hip yaw: Position limits
-2.617…2.617 rad (Lower…upper limit)
Joint limits / left knee pitch: Torque limit
90 N·m (Control upper limit)
Joint limits / right hip pitch: Torque limit
90 N·m (Control upper limit)
Joint limits / right hip yaw: Velocity limit
14.738 rad/s (Control upper limit)
Joint limits / right wrist yaw: Torque limit
30 N·m (Control upper limit)
Specifications and equipment / Adapter input
100–240 V; 50/60 Hz
Specifications and equipment / Charging time
≈210 min
Specifications and equipment / Dual encoders
16/14 bit
Specifications and equipment / Walking speed
2.7 km/h (Not stated as maximum)
Specifications and equipment / Wired network
100 / 1000 / 2500 Mbit/s
Joint limits / left ankle pitch: Torque limit
30 N·m (Control upper limit)
Joint limits / left elbow pitch: Torque limit
30 N·m (Control upper limit)
Joint limits / left hip pitch: Velocity limit
16.2 rad/s (Control upper limit)
Joint limits / left hip roll: Position limits
-0.261…1.57 rad (Lower…upper limit)
Joint limits / left wrist yaw: Velocity limit
16.747 rad/s (Control upper limit)
Joint limits / right ankle roll: Torque limit
30 N·m (Control upper limit)
Joint limits / right hip roll: Velocity limit
14.738 rad/s (Control upper limit)
Joint limits / right hip yaw: Position limits
-2.617…2.617 rad (Lower…upper limit)
Joint limits / right knee pitch: Torque limit
90 N·m (Control upper limit)
Specifications and equipment / Adapter output
46 V; 4 A
Specifications and equipment / Battery energy
475 Wh
Specifications and equipment / Battery weight
≤3.2 kg
Joint limits / left ankle roll: Velocity limit
16.747 rad/s (Control upper limit)
Joint limits / left hip pitch: Position limits
-2.617…2.617 rad (Lower…upper limit)
Joint limits / left knee pitch: Velocity limit
16.2 rad/s (Control upper limit)
Joint limits / left shoulder yaw: Torque limit
30 N·m (Control upper limit)
Joint limits / left wrist yaw: Position limits
-1.832…1.832 rad (Lower…upper limit)
Joint limits / right ankle pitch: Torque limit
30 N·m (Control upper limit)
Joint limits / right elbow pitch: Torque limit
30 N·m (Control upper limit)
Joint limits / right hip pitch: Velocity limit
16.2 rad/s (Control upper limit)
Joint limits / right hip roll: Position limits
-1.57…0.261 rad (Lower…upper limit)
Joint limits / right wrist yaw: Velocity limit
16.747 rad/s (Control upper limit)
Joint limits / left ankle pitch: Velocity limit
16.747 rad/s (Control upper limit)
Joint limits / left ankle roll: Position limits
-0.436…0.436 rad (Lower…upper limit)
Joint limits / left elbow pitch: Velocity limit
16.747 rad/s (Control upper limit)
Joint limits / left knee pitch: Position limits
-0.0872…2.356 rad (Lower…upper limit)
Joint limits / left shoulder roll: Torque limit
30 N·m (Control upper limit)
Joint limits / right ankle roll: Velocity limit
16.747 rad/s (Control upper limit)
Joint limits / right hip pitch: Position limits
-2.617…2.617 rad (Lower…upper limit)
Joint limits / right knee pitch: Velocity limit
16.2 rad/s (Control upper limit)
Joint limits / right shoulder yaw: Torque limit
30 N·m (Control upper limit)
Joint limits / right wrist yaw: Position limits
-1.832…1.832 rad (Lower…upper limit)
Specifications and equipment / Operating system
Ubuntu 22.04
Specifications and equipment / Wireless network
Wi-Fi 6
Joint limits / left ankle pitch: Position limits
-0.436…0.436 rad (Lower…upper limit)
Joint limits / left elbow pitch: Position limits
-0.349…1.658 rad (Lower…upper limit)
Joint limits / left shoulder pitch: Torque limit
54 N·m (Control upper limit)
Joint limits / left shoulder yaw: Velocity limit
16.747 rad/s (Control upper limit)
Joint limits / right ankle pitch: Velocity limit
16.747 rad/s (Control upper limit)
Joint limits / right ankle roll: Position limits
-0.436…0.436 rad (Lower…upper limit)
Joint limits / right elbow pitch: Velocity limit
16.747 rad/s (Control upper limit)
Joint limits / right knee pitch: Position limits
-0.0872…2.356 rad (Lower…upper limit)
Joint limits / right shoulder roll: Torque limit
30 N·m (Control upper limit)
Specifications and equipment / Peak joint torque
144 N·m
Joint limits / left shoulder roll: Velocity limit
16.747 rad/s (Control upper limit)
Joint limits / left shoulder yaw: Position limits
-1.832…1.832 rad (Lower…upper limit)
Joint limits / right ankle pitch: Position limits
-0.436…0.436 rad (Lower…upper limit)
Joint limits / right elbow pitch: Position limits
-0.349…1.658 rad (Lower…upper limit)
Joint limits / right shoulder pitch: Torque limit
54 N·m (Control upper limit)
Joint limits / right shoulder yaw: Velocity limit
16.747 rad/s (Control upper limit)
Specifications and equipment / Battery cycle life
≥800 cycles (25°C,10A discharge,SOH80%)
Joint limits / left shoulder pitch: Velocity limit
14.738 rad/s (Control upper limit)
Joint limits / left shoulder roll: Position limits
-0.174…2.792 rad (Lower…upper limit)
Joint limits / right shoulder roll: Velocity limit
16.747 rad/s (Control upper limit)
Joint limits / right shoulder yaw: Position limits
-1.832…1.832 rad (Lower…upper limit)
Joint limits / left shoulder pitch: Position limits
-2.966…2.966 rad (Lower…upper limit)
Joint limits / right shoulder pitch: Velocity limit
14.738 rad/s (Control upper limit)
Joint limits / right shoulder roll: Position limits
-2.792…0.174 rad (Lower…upper limit)
Specifications and equipment / Rated supply voltage
39.6 V
Joint limits / right shoulder pitch: Position limits
-2.966…2.966 rad (Lower…upper limit)
Specifications and equipment / Actuator communication
Ethernet
Specifications and equipment / Actuator rated voltage
46 V
Specifications and equipment / Charging voltage limit
46.2 V
Specifications and equipment / Battery nominal voltage
39.6 V
Specifications and equipment / Actuator operating voltage
24–60 V
Specifications and equipment / Dimensions in source order
1245 × 441 × 202 mm (Axis order not specified)
Verified ecosystem
Software and resources
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verified official resources
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verified compatible projects
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public maintainers
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Official resources
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Official software
No official software project has been verified yet.
Community projects
No verified community project has been linked yet.
Developers and contributors
No public maintainer profile is linked yet.
Verified activity
No verified project activity is available.
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Imported from the Unibot owner catalog · Not independently verified · Imported 2026-11-11 · Unibot source · Methodology