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SPECIFICATION · /compare/specs/degrees-of-freedom

Humanoid robot degrees of freedom compared

Degrees of freedom of 28 humanoid robots, ranked by the value each maker publishes, from IRON (next-generation) (82) down, with sources.

28 of the 51 humanoid robots in the WBH database publish their degrees of freedom. The table ranks them by the value their makers publish, from IRON (next-generation) at 82 to Noetix N2 at 18 (18–20 for EDU per spec table); each value links to its source.

A robot sold in several configurations is listed with its highest published value, and the configuration is named. 23 robots do not publish a degrees of freedom and are listed below the table, without an estimate.

Compare the first 4 side by side · Sources last checked 11 OCT 2026

DATA · 28 ROBOTS

Degrees of freedom, as published

Humanoid robot degrees of freedom compared: each robot's published value with its source
#ROBOTDEGREES OF FREEDOMCONFIGURATIONSOURCE
1IRON (next-generation)XPENG (XPeng Inc.) - robotics business82Next-Gen IRON as unveiled (2025-11-05)XPENG Shares Achievements in Physical AI Emergence: Unveils XPENG VLA 2.0, Robotaxi, Next-Gen IRON, and Flying Car
2Boston Dynamics AtlasBoston Dynamics56AllAtlas humanoid robot product page
3Fourier GR-3Fourier55AllGR-3 Developer Center home (v3.0.2)
4ROBOTERA L7ROBOTERA55 (with dexterous hands)All北京星动纪元 | 行业唯一软硬件全栈自研具身智能
5ROBOTERA Q5ROBOTERA44All北京星动纪元 | 行业唯一软硬件全栈自研具身智能
6Unitree G1Unitree23–43AllUnitree G1 product page and parameter table
7Booster T1Booster41With Dexterous HandBooster T1 product page and specifications
8MenteeBot V3Mentee40AllMenteeBot - Personalized AI-based Robot You Can Mentor
9PAL Robotics KANGAROOPAL14–40AllKangaroo | Biped Humanoid Robot for Locomotion Research
10Unitree R1Unitree26–40R1 EDUUnitree R1 product page and parameter table
11LimX OliLimX Dynamics33 (leg 6, arm 7, waist 3, neck 2 each)Oli / EDULimX Oli - Full-Size General Humanoid Robot - Specifications | LimX Dynamics Official Website
12PAL Robotics TALOSPAL32AllTALOS technical datasheet (PDF)
13AGIBOT X2AGIBOT31X2 Ultra New VersionAGIBOT X2 Ultra New Version (store listing)
14Booster T2Booster31 (6 per leg, 7 per arm, 3 waist, 2 head)AllBooster T2 | Flagship Embodied Development Platform
15Unitree H2Unitree31AllUnitree H2 PLUS product page and parameter table
16HMND 01 Alpha BipedalHumanoid29AllHMND 01 ALPHA BIPEDAL - Humanoid
17PhantomFoundation29 (page text renders as '29o')AllPhantom – Strongest & Smoothest Humanoid Robot
18SproutFauna29 (2 DoF neck, 6 DoF arms, 5 DoF legs, 1 DoF grippers per product page)AllSprout Creator Edition | Humanoid Developer Platform | Fauna
19LimX LunaLimX Dynamics27AllLimX Luna - Full-Size Interactive Humanoid Robot - Specifications | LimX Dynamics Official Website
20Unitree H1Unitree27H1-2Unitree H1 / H1-2 product page and parameter table
21AGIBOT Genie G2AGIBOT25 (excluding end effectors)AllAGIBOT Innovation (Shanghai) Technology Co., Ltd. -AGIBOT Innovation (Shanghai) Technology Co., Ltd.
22Unitree G1-CompUnitree25AllUnitree G1-Comp Football Icon Designed for Competitions
23EngineAI PM01EngineAI24AllPM01_ 全开放通用具身智能体-ENGINEAI众擎机器人
24Noetix E1Noetix23 (23–28 with options)AllE1 SDK开发指南 | 松延动力
25Booster K1Booster22 (6 per leg, 4 per arm, 2 head)AllBooster K1 | Introductory Embodied Development Platform
26Noetix BumiNoetix21AllBumi Consumer Humanoid Robot-Noetix Robotics Official Website
27Unitree G1-DUnitree19 (excl. end effector)UltimateUnitree G1-D End-to-End Platform for Humanoid Robot | Unitree Robotics
28Noetix N2Noetix18 (18–20 for EDU per spec table)AllN2 SDK开发指南 | 松延动力

Not published: 4NE1 Gen 3.5, 4NE1 Mini, AGIBOT A2 (A2 Ultra / A2 Lite), AGIBOT A2-W, AGIBOT A3, AGIBOT A3 Ultra, AGIBOT Genie G1, Agility Digit 5, Apollo 2, Astribot S1, EngineAI T800, Figure 03, Galbot ET1, Galbot G1, HMND 01 Alpha Wheeled, NEO, Persona humanoid, Pollen Robotics Reachy 2, ROBOTERA M7, Torobo, Vega, Walker S2, iCub.

IN SHORT

Quick answers

Which humanoid robot has the most degrees of freedom?
Of the robots whose makers publish it, IRON (next-generation) (Next-Gen IRON as unveiled (2025-11-05)): 82.
How many humanoid robots publish their degrees of freedom?
28 of 51 in the WBH database.

DATA · 5 COMPARISONS

Head-to-head comparisons

All comparisons