Beijing Humanoid Robot Innovation Center TienKung 2.0 Plus

Industrial Applications

Editorial: 2.0 Plus adds an actuated waist, Orin compute and RGBD perception to its 21-body-joint research platform. Default four-joint arms differ from optional seven-joint manipulation hardware; do not treat Pro payload orhand capability as standard.

This editorial assessment concerns industrial buyer readiness. It is not an independent performance test.

Manipulation and Perception

21 BODY joints: four-joint arms×2, legs 6×2, waist 1. Seven-joint 4 kg/600 mm arms, wrists force sensing, hands and 3-joint head are optional; their ratings are not the base four-joint-arm payload.

AGX Orin 64 275 TOPS, 3 RGBD, IMU, microphone/speaker/720p speech module. All list i 7-1355 U, 16 GB RAM and 256 GB SSD; marketingTOPS precision and exact installed packages require confirmation.

SDK and Integration

Manufacturer joint/sensor interfaces and teleoperation; exact delivered development entitlement by contract. Manual Ubuntu 22.04.4 LTS / ROS; exact ROS 1/ROS 2 distribution not specified. Public 2.0 Pro URDF exists; do not automatically apply Pro assets to Plus. Confirm exact model, compute, middleware, firmware and licence. WiseKaiWu Agent root licence requires prior written authorisation. Website privacy policy excludes robots and cloud products.

Public code or a model file does not certify safe real-world control. Native SDK and higher-level model services have separate rights and operating requirements.

Safety Notes

No exact signed EU declaration, independently tested stopping/fall envelope, safety integrity rating or validated human-collaboration mode inspected. Provide appropriate test supervision and physical fall/stop protection according to the delivered manual. Capability demonstrations are not a safety assessment. Public 2.0 precautions require adults, 0–30°C,<80%RH and lifting/support equipment. Remote C holds joints; back emergency stop cuts power and can collapse unsupported robot. Verify exact stop behaviour; no certified safe torque-off or collaboration rating inferred.

Compliance and Certificates

Commercial Readiness

Historical research and exhibition evidence does not establish current general orderability.

Specifications

Sources and Further Reading

• Legacy and generation-specific URDF/CAD resource index ↗ Open-X-Humanoid GitHub account · Accessed Nov 2, 2026

  Official repository explicitly has Lite TG 10, Pro TG 11, TienKung 2.0 Pro and Tianyi 2.0 models, STL/STEP and ROS/Gazebo/RViz descriptions. No root LICENSE retrieved at the inspected path; hardware/CAD reuse rights and individual file notices need confirmation. Visualisation ROS 2 packages do not change Tianyi 2.0 control ROS 1 specification.

• TienKung 2.0 operational precautions ↗ Beijing Humanoid Robot Innovation Center / X-Humanoid · Accessed Nov 2, 2026

  Adults only; 0–30°C and below 80% RH; avoid wet environments. Use lifting/support equipment. Remote C holds joints; physical emergency stop cuts power and may cause unsupported collapse. Several zeroing/disable/stop actions require fall protection. This is operational guidance, not a verified functional-safety rating.

• TienKung 2.0 Plus official parameter manual ↗ Beijing Humanoid Robot Innovation Center / X-Humanoid · Accessed Nov 2, 2026

  Edition-specific public manual, opened and read. Lite: 1730 mm/64 kg/20 body joints; Plus: 1730/64/21, one Orin 275 TOPS; Pro: 1730/74/42 INCLUDING hands, dual Orin 550 TOPS, seven-joint arms rated 4 kg each/600 mm. All 48 V, 30 Ah+3 Ah. Runtime is OVER four hours Lite/Plus or OVER 3.5 Pro, not an exact duration. Lite/Plus seven-joint arm and hand ratings are optional, not their base rating. Ubuntu 22.04.4; exact ROS distribution unspecified.

• TienKung 2.0 Plus warranty manual ↗ Beijing Humanoid Robot Innovation Center / X-Humanoid · Accessed Nov 2, 2026

  One year from receipt for robot, joint motors, battery and power adapter; shell has no warranty. User pays inbound freight; confirmed quality issues cover inspection, materials and return freight. Falls, water, misuse and unauthorised modifications/repair excluded. Repair may access logs and lose data. Manual says no third party is authorised to repair; regional statutory rights and exact contract still need review.

• TienKung ROS 2 real/sim deployment library ↗ Open-X-Humanoid GitHub account · Accessed Nov 2, 2026

  C++17 ROS 2 Humble/Ubuntu 22.04 library with state machine, RL controller and real/sim interfaces. Root licence contains BSD-3-Clause and MIT third-party material, inspected directly. Exact variant-specific robot package and firmware compatibility require confirmation.

• WiseKaiWu Agent guide and restrictive proprietary licence ↗ Open-X-Humanoid GitHub account · Accessed Nov 2, 2026

  Guide uses Python 3.10 compiled binaries, Ubuntu 22.04/24.04, x 86_64/arm 64, HTTP/WebSocket/ROS channels and configurable model/tool services.3.0/Tianyi 2.5 speech path differs from legacy Tianyi 2.0 robot_voice. Root LICENSE explicitly requires prior written authorisation for commercial AND noncommercial use and restricts redistribution/modification; public visibility is not an unrestricted open-source licence. Full offline feature set and model-data processing remain configuration-specific.

• Official website-only privacy policy ↗ Beijing Humanoid Robot Innovation Center / X-Humanoid · Published Aug 28, 2026 · Accessed Nov 2, 2026

  PDF body says updated/effective August 28, 2026 despite filename 26. Explicitly covers the WEBSITE ONLY and excludes robot bodies/control systems, clients, apps, miniprograms and cloud services. Website forms, logs, Feishu and WeCom handling cannot establish robot telemetry residency or offline operation.