CtrlK
| Developer | DEEP Robotics |
| Type | Humanoid robot |
| Generation | 1st humanoid (preceded by quadruped lineup) |
| Unveiled | August 21, 2024 |
| Event | 2024 World Robot Conference, Beijing |
| Height | 170 cm (5 ft 7 in) |
| Weight | ~80 kg (176 lb) |
| Degrees of Freedom | 12 |
| Walking Speed | >1.6 m/s (5.8 km/h) |
| Step Height | 18 cm |
| Slope Capability | 25 degrees |
| Payload | 15 kg |
| Actuators | Proprietary J60 and J100 joints |
| Status | Prototype / research platform |
| Successor | DR02 |
| Estimated Price | ~$200,000 USD |
| Website | deeprobotics.cn |
The DEEP Robotics DR01 is the first humanoid robot developed by DEEP Robotics, a Chinese robotics company headquartered in Hangzhou, Zhejiang Province. The robot was unveiled on August 21, 2024, at the 2024 World Robot Conference (WRC) in Beijing, marking the company's expansion from its established quadruped robot lineup into bipedal humanoid form factors. Standing 170 cm tall and weighing approximately 80 kg, the DR01 features 12 degrees of freedom and is powered by DEEP Robotics' proprietary J60 lightweight joints and J100 high-torque joints. DEEP Robotics described the DR01 as an "embodied intelligence explorer" designed as a platform for validating bipedal control algorithms derived from the company's years of quadruped locomotion research.[1][2]
The DR01 served as a technology demonstrator and stepping stone toward the company's second-generation humanoid, the DR02, which was launched in October 2025 with significantly expanded capabilities including 31 degrees of freedom, full-body IP66 environmental protection, and dexterous five-fingered hands.[3]
DEEP Robotics (formally Hangzhou Yunshenchu Technology Co., Ltd.) was founded on November 29, 2017, by Zhu Qiuguo and Li Chao. Both founders hold doctoral degrees from Zhejiang University. Zhu Qiuguo, born in November 1982, had served as an associate professor and PhD adviser at Zhejiang University, where his research focused on bionic robotics and machine intelligence. As an undergraduate, Zhu participated in ZJUDancer, a student team that built small humanoid soccer robots for the RoboCup competition. He decided to launch his own company after observing the progress of Boston Dynamics in legged locomotion.[4][5]
Within months of its founding, DEEP Robotics launched the first generation of its Jueying quadruped robot, named after a legendary horse ridden by Cao Cao during China's Three Kingdoms period. Over the following years, the company built a comprehensive lineup of quadruped robots that established it as one of China's leading legged robotics firms. By 2025, DEEP Robotics reported approximately 85% market share in power industry inspection applications and over 90% share in firefighting robotics within China, with an overall market share exceeding 80% across legged robot application scenarios in 44 countries.[3][6]
The company has raised approximately $140 million in total funding across four rounds. In December 2025, DEEP Robotics completed a Series C financing round exceeding 500 million RMB (approximately $71 million), co-led by China Merchants Bank International and China Asset Management, with participation from China Telecom, China Unicom, Yunhui Capital, and the Zhejiang University Education Foundation. This round valued the company at approximately 8 billion yuan ($1.1 billion), establishing DEEP Robotics as a unicorn. Following the fundraise, the company began IPO tutoring with China Securities Co. Ltd., targeting a mainland Chinese stock exchange listing.[7][8]
Before entering the humanoid robot market with the DR01, DEEP Robotics built its reputation through several generations of quadruped (four-legged) robots. The locomotion control algorithms, actuator technology, environmental hardening, and balance recovery systems developed for these quadrupeds directly informed the design of the DR01 and its successor, the DR02.
| Product | Year | Type | Key Features |
|---|---|---|---|
| Jueying (1st gen) | 2017 | Quadruped | First product; named after Cao Cao's legendary horse |
| Jueying X20 | 2021 | Industrial quadruped | IP66 rated; 85 kg payload; -20 to 55 degrees C; 20 cm obstacle clearance |
| Lite3 | 2023 | Research quadruped | 12.2 to 13.5 kg; front flips; ROS1/ROS2 support; open SDK |
| Jueying X30 | 2023 | Industrial quadruped | IP67 rated; 45-degree stair climbing; power tunnel inspection |
| Lynx M20 | 2024 | Wheel-leg hybrid | Wheeled feet for dual-mode locomotion; 50-degree slopes; $17,999 |
| DR01 | 2024 | Humanoid | First humanoid; 12 DOF; 170 cm tall |
| DR02 | 2025 | Humanoid | IP66 full-body; 31 DOF; 175 cm; all-weather capable |
The Jueying X20, launched in August 2021, was particularly significant because it became China's first industrial-grade IP66 waterproof quadruped robot. It could carry payloads up to 85 kg, operate for over two hours under load, and traverse grass, sand, snow, gravel, and standing water. The X20 was deployed in earthquake disaster relief drills, hazardous environment detection, and post-disaster search and rescue scenarios, equipped with long-distance communication systems, bi-spectrum PTZ cameras, gas sensing equipment, and omnidirectional cameras.[9]
The Jueying X30, introduced in October 2023, pushed environmental tolerance further with an IP67 rating and the ability to climb industrial stairs at 45-degree angles. In January 2025, Singapore Power Group deployed an X30 for autonomous power tunnel inspections, completing full-station inspections in under 35 minutes compared to over an hour for human patrols, while reducing operational costs by approximately 70%.[10]
The Lite3, launched in March 2023, targeted the education and research market. Weighing between 12.2 and 13.5 kg, the Lite3 could perform front flips, horizontal jumps, and high jumps, demonstrating advanced dynamic locomotion control. It supported both ROS1 (Noetic) and ROS2 (Foxy), provided an open SDK, and was adopted by institutions including University College London and the University of Edinburgh for quadruped locomotion research.[11]
The Lynx M20, unveiled in November 2024, represented a hybrid approach combining wheeled feet with quadruped legs, allowing it to switch between walking and rolling depending on terrain conditions. This wheel-leg hybrid design enabled it to climb 22 cm steps, tackle 50-degree slopes, and reach higher speeds on flat terrain than pure-legged robots. Priced at $17,999 with IP54 protection and hot-swappable batteries, the Lynx targeted search and rescue, field inspection, and exploration applications.[12]
This progression from the first Jueying through the X20, X30, Lite3, and Lynx platforms gave DEEP Robotics extensive experience in legged locomotion control, balance algorithms, actuator design, and ruggedized engineering. All of these capabilities were brought to bear when the company designed its first humanoid robot.
The DR01 was unveiled at the 2024 World Robot Conference (WRC), held from August 21 to 25, 2024, at the Beijing Economic-Technological Development Area. The event was the largest robotics exhibition in China that year, attracting over 812,000 visitors, more than 400 industry experts and academics, and 169 companies showcasing over 600 innovative products. Among the exhibits were 27 Chinese-designed humanoid robots, the highest number ever displayed at the conference, reflecting the rapid growth of China's humanoid robotics sector.[13][14]
DEEP Robotics used the WRC to demonstrate the DR01's locomotion capabilities in a series of live demonstrations. The robot climbed stairs, walked over steel bars placed on the ground, and traversed uneven terrain surfaces. In a notable stability test, conference attendees and demonstrators pushed, pulled, and struck the DR01 from behind while it was walking; the robot maintained its balance and continued walking steadily, showcasing its disturbance rejection capabilities. These demonstrations highlighted the transfer of balance recovery and terrain adaptation technologies from DEEP Robotics' quadruped platforms to a bipedal form factor.[1][2]
The DR01's debut placed it alongside other prominent humanoid robots at the 2024 WRC, including offerings from Unitree Robotics (which exhibited the H1 and G1), UBTECH (with the Walker S), PaXini Technology (with the Tora-One), and AgiBot. The conference served as a milestone event for China's humanoid robotics industry, with the Chinese government signaling strong support for the sector as a strategic technology priority.[14][15]
The DR01 was designed as a research and technology demonstration platform rather than a commercially deployable industrial robot. Its 12 degrees of freedom focused on bipedal locomotion rather than upper-body manipulation, reflecting DEEP Robotics' initial priority of proving that its quadruped locomotion expertise could translate to bipedal walking.
| Category | Specification | Value |
|---|---|---|
| Physical | Height | 170 cm (5 ft 7 in) |
| Physical | Weight | ~80 kg (176 lb) |
| Mobility | Degrees of freedom | 12 |
| Mobility | Maximum walking speed | >1.6 m/s (5.8 km/h, 3.6 mph) |
| Mobility | Step height | 18 cm (7.1 in) |
| Mobility | Maximum slope | 25 degrees |
| Manipulation | Payload capacity | 15 kg (33 lb) |
| Actuators | Lightweight joints | J60 (proprietary) |
| Actuators | High-power joints | J100 (proprietary) |
| Sensors | Perception system | Environmental sensor array (fusion perception) |
| Power | Battery life | ~2 hours (estimated) |
| Software | Control approach | Fusion perception learning algorithm |
| Status | Development stage | Prototype |
The DR01 is powered by two types of DEEP Robotics' proprietary joint actuators: the J60 lightweight joint and the J100 high-power joint. These actuators were originally developed for the company's quadruped robot lineup and were adapted for the humanoid form factor.
J60 Lightweight Joint: The J60 integrates a reducer, frameless torque motor, servo driver, and absolute value encoder into a single compact unit. The J60-6 variant weighs 0.48 kg and delivers a peak torque of 19.94 Nm at speeds up to 24.18 rad/s, achieving a torque-to-weight ratio of 41.54 Nm/kg. The higher-ratio J60-10 variant achieves a torque-to-weight ratio of up to 56.48 Nm/kg. Both variants support dual communication interfaces (serial port and CAN bus) and feature built-in temperature, current, and voltage monitoring for reliable protection during prolonged use. The J60 carries an IP67 protection rating.[16][17]
J100 High-Power Joint: The J100 is designed for joints requiring substantially higher torque output. The J100-116P variant achieves a peak torque of 315 Nm with a torque density of 107.5 Nm/kg, which DEEP Robotics describes as setting a new industry benchmark for torque density. Like the J60, the J100 features high-speed EtherCAT communication supporting real-time coordination of up to 30 joints, and carries IP67 environmental protection. The J100 is used in the DR01's leg joints where high torque is required for bipedal locomotion and load bearing.[16][18]
The combination of lightweight J60 joints for less demanding articulation points and high-power J100 joints for primary locomotion joints allowed DEEP Robotics to optimize the DR01's weight distribution while maintaining the torque necessary for stable bipedal walking.
The DR01 achieves a walking speed exceeding 1.6 m/s (approximately 5.8 km/h or 3.6 mph) and can navigate terrain challenges including steps up to 18 cm in height, slopes up to 25 degrees, and uneven surfaces such as gravel, grass, and discontinuous terrain. The robot's locomotion system is built on a "fusion perception" learning algorithm that combines two types of sensory data: proprioceptive data (the robot's internal state, including joint positions, velocities, and forces) and exteroceptive data (environmental perception from external sensors). This combined approach allows the robot to dynamically adjust its gait and balance in response to terrain changes and external disturbances.[1][2]
The balance recovery system is one of the DR01's most notable capabilities. During demonstrations at the 2024 WRC, the robot maintained stable walking even when subjected to pushes, pulls, and strikes from behind. It could also recover balance on slippery surfaces and under other unknown disturbances. This capability draws directly from DEEP Robotics' years of developing balance control algorithms for quadruped robots, where similar disturbance rejection is critical for navigating unpredictable outdoor environments.[1]
The DR01 is equipped with an array of environmental sensors that provide real-time feedback for terrain assessment and navigation decisions. While DEEP Robotics did not publish a detailed sensor manifest for the DR01 (in contrast to the DR02, which specifies three depth cameras, one wide-angle camera, and LiDAR), the robot's demonstrated ability to navigate discontinuous terrain and adapt to varying surface conditions indicates a multi-modal perception system capable of depth estimation and surface characterization.[1][2]
The sensor data feeds into the fusion perception algorithm, which processes environmental information alongside the robot's own body state data to generate real-time locomotion commands. This closed-loop perception-action system enables the DR01 to autonomously adjust its walking patterns without requiring pre-programmed terrain maps.
DEEP Robotics emphasized the DR01's capacity for autonomous learning as a core differentiator. Through artificial intelligence and big data training, the DR01 can autonomously generate new behavioral skills in response to changing environments and task requirements. This means the robot is not limited to a fixed set of pre-programmed gaits or movements; instead, it can develop new locomotion strategies through training in simulation and real-world environments.[1][2]
This approach aligns with broader trends in robot learning, where reinforcement learning and sim-to-real transfer are used to train legged robots to handle diverse terrain conditions without explicit programming for each scenario. DEEP Robotics' experience with training quadruped robots using similar methods provided a foundation for the DR01's learning-based locomotion system.
The DR01 was explicitly designed as a first-generation technology demonstrator rather than a production-ready industrial robot. Its design choices reflect DEEP Robotics' strategic decision to prioritize proving bipedal locomotion competence before adding the complexity of upper-body manipulation and environmental hardening.
With only 12 degrees of freedom, the DR01's articulation was concentrated in its legs and lower body, providing enough joint configurations for walking, stair climbing, and balance recovery, but leaving limited capability for upper-body tasks. The robot lacked the dexterous five-fingered hands that would later be added to the DR02, and its arm articulation was minimal compared to humanoid robots designed for manipulation tasks.[1][3]
This locomotion-first approach made engineering sense given DEEP Robotics' background. The company's core competency was in legged locomotion from its quadruped platforms, and the DR01 allowed the engineering team to validate that these algorithms could be adapted for bipedal walking before investing in the additional complexity of manipulation systems.
At approximately 80 kg, the DR01 was relatively heavy for a humanoid robot of its height and capability level. The weight can be attributed in part to the early stage of the company's humanoid actuator optimization. For comparison, the successor DR02, despite having nearly three times as many degrees of freedom (31 vs. 12), additional sensors, dexterous hands, and full-body environmental sealing, weighs only 65 to 75 kg. This weight reduction from DR01 to DR02 indicates significant advances in structural design and actuator engineering between the two generations.[3]
Unlike DEEP Robotics' industrial quadruped robots (the X20 with IP66 and the X30 with IP67), the DR01's environmental protection rating was not disclosed. This suggests the prototype was designed primarily for controlled demonstration environments rather than outdoor industrial deployment. The lack of environmental sealing was one of the key limitations addressed in the DR02, which achieved full-body IP66 protection.[3]
The DR01's battery endurance was estimated at approximately 2 hours, consistent with typical prototype humanoid robots of that era. This runtime was sufficient for conference demonstrations and laboratory testing but fell short of the shift-length endurance required for industrial applications. The DR02 would later address this limitation with a 6 to 8 hour battery life designed to cover standard industrial work shifts.[3]
The DR01's most important contribution was serving as the proof-of-concept platform that paved the way for the DR02. The lessons learned from the DR01's design, testing, and public demonstrations directly informed the DR02's development across multiple dimensions.
| Feature | DR01 (2024) | DR02 (2025) |
|---|---|---|
| Unveiled | August 2024 | October 2025 |
| Height | 170 cm (5 ft 7 in) | 175 cm (5 ft 9 in) |
| Weight | ~80 kg | 65 to 75 kg |
| Degrees of freedom | 12 | 31 |
| Walking speed | >1.6 m/s | 1.5 m/s (standard); 4 m/s (max) |
| Step height | 18 cm | 25 cm |
| Slope capability | 25 degrees | 20 degrees |
| Payload | 15 kg | 20 kg (10 kg per arm) |
| Hands | Limited / not disclosed | 5-finger dexterous hands |
| IP rating | Not disclosed | IP66 (full body) |
| Operating temperature | Not disclosed | -20 to +55 degrees C |
| Computing power | Not disclosed | 275 TOPS (NVIDIA Jetson AGX Orin) |
| Sensors | Environmental sensor array | 3 depth cameras, 1 wide-angle camera, LiDAR |
| Actuators | J60 and J100 joints | Fully sealed electric servo actuators |
| Battery life | ~2 hours | 6 to 8 hours |
| Modular design | No | Yes (quick-detach arms and legs) |
| Commercial positioning | Research prototype | Industrial deployment platform |
The most dramatic improvement from the DR01 to the DR02 was the nearly tripling of degrees of freedom, from 12 to 31. This expansion enabled the DR02 to perform whole-body coordinated movements, object manipulation with dexterous hands, and complex recovery motions such as standing up from a prone position without external assistance. The DR01's limited articulation had restricted it to locomotion tasks only.[3]
The DR02's full-body IP66 environmental sealing represented a direct application of technology proven in the Jueying X20 quadruped since 2021. The DR01 lacked such protection, limiting it to controlled environments. The DR02 can operate in rain, dust, and temperatures ranging from -20 to +55 degrees Celsius, extending the potential deployment envelope to outdoor logistics yards, power substations, construction sites, and agricultural facilities.[3]
Despite the addition of 19 extra degrees of freedom, dexterous hands, comprehensive sensor suites, environmental sealing, and a modular quick-detach system, the DR02 weighs 15 kg less than the DR01 at its lightest configuration. This weight reduction reflects substantial advances in structural design, actuator engineering, and materials selection between the two generations.[3]
The DR02's battery life of 6 to 8 hours represents a three- to fourfold improvement over the DR01's estimated 2-hour runtime, achieved through both battery capacity improvements and energy efficiency gains in the actuators and control systems. This extended endurance aligns with standard industrial shift durations.[3]
The DR02 also introduced a modular quick-detach design allowing rapid on-site replacement of forearms, entire arms, and entire legs. Left and right modules are interchangeable, reducing maintenance downtime from days to hours. This maintainability feature, absent from the DR01 prototype, addresses a critical concern for industrial customers who need sustained robot uptime over 5- to 10-year equipment lifecycles.[3]
The DR01 validated a key hypothesis for DEEP Robotics: that algorithms and engineering expertise developed for quadruped robots could be successfully transferred to bipedal humanoid form factors. Several specific areas of technology transfer are evident.
Locomotion control algorithms: The fusion perception learning algorithm used in the DR01 builds on the same reinforcement learning and sim-to-real transfer approaches that DEEP Robotics developed for training its Jueying quadruped robots to navigate complex terrain. The transition from four-legged to two-legged locomotion required substantial adaptation of these algorithms, but the fundamental approach of combining proprioceptive and exteroceptive data for adaptive gait control remained consistent.[1]
Actuator technology: The J60 and J100 joint actuators used in the DR01 were originally developed for the quadruped robot lineup. Their high torque density, integrated sensing, and IP67-rated construction provided a proven foundation for humanoid joint design. The experience of manufacturing and deploying thousands of these actuators in quadruped robots gave DEEP Robotics confidence in their reliability and performance characteristics.[16][18]
Balance recovery: The DR01's ability to maintain balance under external disturbances draws on balance recovery techniques developed for quadruped robots operating in unpredictable outdoor environments. While the biomechanics of bipedal balance differ significantly from quadruped balance, the control theory principles and sensor fusion approaches are related, giving DEEP Robotics a meaningful head start over companies entering humanoid robotics without prior legged robot experience.[1]
Environmental hardening knowledge: Although the DR01 itself did not carry an IP rating, the engineering knowledge gained from building IP66 (X20) and IP67 (X30) rated quadruped robots was directly applied to the DR02's full-body IP66 sealing. The DR01 phase allowed the engineering team to identify which humanoid-specific joints and mechanisms would present the greatest sealing challenges, informing the DR02's sealed actuator design.[3]
The DR01 entered a rapidly growing humanoid robotics landscape in China during 2024. The 27 humanoid robots displayed at the 2024 WRC represented a significant increase from previous years, reflecting both government policy support and substantial private investment in the sector.
At the time of the DR01's debut, several Chinese companies were at various stages of humanoid robot development. Unitree Robotics, like DEEP Robotics a company with quadruped origins, had already launched the G1 consumer humanoid (priced at $16,000) and the H1 research platform. UBTECH had deployed its Walker S humanoid in automotive factory trials. AgiBot, backed by Shanghai AI Laboratory, was developing multiple humanoid models for manufacturing applications. Internationally, Figure AI had begun deploying its Figure 02 at BMW factories, Tesla was iterating on the Optimus humanoid, and Boston Dynamics was developing its electric Atlas platform.[14][15]
The DR01 distinguished itself from these competitors primarily through its emphasis on terrain adaptability and balance recovery rather than manipulation or speed. While many competing humanoids focused on dexterous hand manipulation and factory task execution, the DR01 showcased robust bipedal locomotion on challenging terrain, reflecting DEEP Robotics' quadruped heritage and the company's belief that reliable locomotion in unstructured environments was a prerequisite for practical humanoid deployment.
DEEP Robotics reported 2024 revenue growth exceeding 100% compared to 2023, with projected robot shipments reaching 10,000 units in 2025. While these figures primarily reflect quadruped robot sales (the DR01 was a prototype, not a commercial product), the company's commercial success with quadrupeds provided the financial resources to fund humanoid development.[3][7]
Clients and partners of DEEP Robotics include Lenovo, Eastern Green Power, SUPCON, Baosteel, Takenaka Corporation, University College London, and the University of Edinburgh. The company's customer base spans power utilities, industrial manufacturing, firefighting agencies, and academic research institutions across 44 countries.[4][6]
The DR01's development was part of a broader industry trend in which Chinese quadruped robot manufacturers expanded into humanoid form factors. Unitree Robotics followed a similar trajectory, transitioning from the A1 and Go1 quadrupeds to the H1 and G1 humanoids. The shared technical foundations in legged locomotion control, actuator design, and balance algorithms make quadruped experience a natural springboard for humanoid development, and companies with established quadruped businesses have the advantage of existing revenue streams to fund the capital-intensive process of humanoid robot development.