AgiBot A2 (Yuanzheng) vs Duke Humanoid v1
Generated from the registry · revision 2026-09-26 · openness out of 100
AgiBot A2 (Yuanzheng) has 30 more degrees of freedom (40 vs 10) than Duke Humanoid v1. Openness score: AgiBot A2 (Yuanzheng) 0, Duke Humanoid v1 85 (of 100); only Duke Humanoid v1 publishes CAD, BOM, SIM, SW and POL. Availability: AgiBot A2 (Yuanzheng) buy, Duke Humanoid v1 research only.
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Side by side
■ rows differ| Field | AgiBot (Zhiyuan Robotics)AgiBot A2 (Yuanzheng) | Duke University General Robotics LabDuke Humanoid v1 | Δ first − second |
|---|---|---|---|
| Identity | |||
| Maker (differs) | AgiBot (Zhiyuan Robotics) | Duke University General Robotics Lab | |
| Class (differs) | Humanoid | Biped | |
| Status (differs) | Active | Research | |
| Availability (differs) | Buy | Research only | |
| Country (differs) | China | United States | |
| Year | 2024 | 2024 | |
| Specifications | |||
| Height | 169cm | —unsourced | |
| Mass | 69kg | —unsourced | |
| Degrees of freedom (differs) | 40 | 10 | +30 (+300%) |
| Payload | —unsourced | —unsourced | |
| Top speed | —unsourced | —unsourced | |
| Runtime | 120min | —unsourced | |
| Battery capacity | 700Wh | —unsourced | |
| Price | —unsourced | Not for sale | |
| Actuators | —unsourced | —unsourced | |
| Compute | —unsourced | —unsourced | |
| Sensors | 360° LiDAR, six HD cameras incl. RGB-D and fisheye, force/torque sensors, mic array | —unsourced | |
| Openness and provenance | |||
| Openness bar | |||
| Openness score (differs) | 0/ 100 | 85/ 100 | −85 |
| CAD (25) (differs) | not public | public | |
| Bill of materials (20) (differs) | not public | public | |
| Sim model (URDF/MJCF) (20) (differs) | not public | public | |
| Firmware (15) | not public | not public | |
| Software (10) (differs) | not public | public | |
| Trained policies (10) (differs) | not public | public | |
| Verification level (differs) | L0 | L1 | |
| Sources (differs) | 2 | 4 | |
| Last checked (differs) | 2026-09-24 | 2026-09-25 | |
A dash is an unsourced figure, not zero. Sources for each robot are listed on its spec sheet: AgiBot A2 (Yuanzheng), Duke Humanoid v1.
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