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Galaxea

Galaxea R1 Lite 6-DOF Mobile Manipulation Robot Platform

The Galaxea R1 Lite is a wheeled humanoid-style dual-arm mobile manipulation platform aimed at embodied AI development, teleoperation-driven iteration, and indoor manipulation prototypes. With 23 DoF, an omnidirectional chassis, a multi-camera + 360° LiDAR sensor set, and a documented ROS 2 control stack organized around mobile manipulation (“mobiman”), R1 Lite is positioned as a practical foundation for research teams and applied robotics developers building real-world manipulation systems.

$39,999

Care information

Store in a dry, dust-free environment and avoid impact or excessive vibration during handling. Do not disassemble the motor or modify internal components, as this may affect performance and void warranty. Ensure proper voltage supply and secure mounting before operation.

Shipping

Free shipping. 12-Day delivery.

The R1 Lite is equipped with two Galaxea A1X robot arms and two Galaxea G1 grippers. It boasts a total of 7 DOF in motion, enabling flexible grasping and manipulation.

Design and Features(R1 Lite)

Dual-arm mobile manipulation layout

R1 Lite uses a wheeled base with an upper-body manipulation frame, carrying two robotic arms and two grippers. Official documentation states the platform is equipped with two Galaxea A1X robotic arms and two Galaxea G1 grippers, intended for grasping and manipulation tasks.

A recurring detail in Galaxea’s documentation is the way “degrees of freedom” are counted. The product page specifies 6 DoF per arm and 1 DoF per gripper, while the hardware guide describes “7 degrees of freedom per arm,” which is consistent with interpreting “arm + gripper” as a combined chain.

Omnidirectional chassis for indoor maneuvering

The R1 Lite chassis is described as “6, 360° omnidirectional” in the product specifications, indicating a base designed for agile repositioning in tight spaces—an important requirement for mobile manipulation where small alignment errors can prevent reliable grasps or insertions.

Standard perception suite for navigation and manipulation

The base configuration includes multiple cameras, inertial sensing, and LiDAR. Galaxea lists the standard sensors as:

Head: 1× stereo-ready dual camera system

Wrist: 2× depth cameras

Platform: 1× IMU

Chassis: 5× monocular RGB cameras + 1× 360° LiDAR + 1× IMU

This configuration reflects a common embodied AI pattern: multi-view vision for near-field manipulation, combined with range sensing (LiDAR) and inertial measurements for navigation stability and state estimation.

Teleoperation-ready by design

R1 Lite is explicitly positioned as teleoperation-capable. The storefront lists teleoperation options including a master teleoperation end-effector and VR device compatibility, while the documentation includes a dedicated teleoperation usage tutorial that recommends an Ubuntu 22.04 + ROS 2 Humble “upper computer” for teleop workflows.

Technology and Specifications(R1 Lite)

Dimensions and mechanical configuration

Height: 1281 mm

Chassis width: 596 mm

Torso platform width: 670 mm

Weight: 75 kg (including battery)

Total DoF: 23 (including chassis, torso, arms, and grippers)

Manipulation performance (arms and grippers)

Single-arm DoF: 6

Torso DoF: 3

Gripper: force-controlled parallel gripper; 1 DoF

Gripping range: 0–100 mm

Gripping force: 150 N rated, 350 N peak

Repeatability: ±1 mm (as listed in the parameter table)

Payload is described at both system and per-arm levels:

Dual-arm payload: 6 kg rated, 10 kg maximum (dual-arm)

Single-arm payload (kg @ 0.6 m): 3 kg rated, 5 kg maximum

Mobility

Chassis: 6 DoF, 360° omnidirectional

Chassis speed: 1.5 m/s

Onboard compute

Computing: Intel Core i9-12900HK, 32 GB RAM (listed as the computing unit configuration)

Advantages / Benefits(R1 Lite)

Balanced hardware for mobile manipulation

R1 Lite’s published specification targets the practical “middle” of embodied robotics: enough payload for real objects, enough sensing for navigation and grasping, and a form factor sized for indoor development environments.

Teleoperation options for faster iteration

Teleoperation is often used to bootstrap data collection and validate task feasibility before full autonomy. Galaxea’s inclusion of teleop workflows (and documentation that targets ROS 2 Humble environments) supports this iterative development cycle.

Documented ROS 2 interface boundaries

By publishing interface-level documentation (joint, pose, gripper, torso, chassis), R1 Lite reduces integration ambiguity for teams building planning stacks, perception pipelines, and learned controllers on top of a stable driver layer.

FAQ Section(R1 Lite )

What is the Galaxea R1 Lite Wheeled Humanoid Robot?

The Galaxea R1 Lite is a dual-arm wheeled mobile manipulation platform designed for embodied AI development and indoor manipulation tasks, featuring a multi-camera + LiDAR sensor suite and ROS 2 software interfaces.

How does the Galaxea R1 Lite work?

R1 Lite combines an omnidirectional wheeled chassis with two robotic arms and force-controlled grippers, using vision, IMUs, and 360° LiDAR for perception. Control is exposed through ROS 2 interfaces covering arm joints, arm poses, grippers, torso control, and chassis motion.

Why is the Galaxea R1 Lite important?

Platforms like R1 Lite help teams prototype and validate mobile manipulation workflows—often faster than building custom hardware—while providing a standardized base for data collection, teleoperation, and autonomy development.

What are the benefits of the Galaxea R1 Lite?

Key benefits include 23 total DoF, an omnidirectional base, dual-arm manipulation with force-controlled grippers, a standard multi-camera + 360° LiDAR sensor set, and a documented ROS 2 “mobiman” control architecture suitable for research and prototyping.
▤ PARAMETER ⌃
Key Dimensions (mm)
Height
1281
Chassis Width
596
Torso Platform Width
670
Total Degree of Freedom (DOF)
23
Weight (kg)
75 (including battery)
Single-Arm Degree of Freedom (DOF)
6
Gripper-Equipped Arm Radius (cm)
60
Single-Arm Payload (kg@0.6m)
Rated
3
Maximum
5
Repeatability (mm)
± 1
Maximum End-Effector Linear Velocity (m/s)
5
Maximum End-Effector Acceleration (m/s²)
8
End-Effector
Force-Controlled Parallel Gripper
Gripper Degree of Freedom (DOF)
1
Gripping Range (mm)
0–100
Gripper Length (mm)
145
Gripping Force (N)
Rated
150
Peak
350
Torso Degree of Freedom (DOF)
3
Vertical Workspace (cm)
0–170
Chassis Degree of Freedom (DOF)
6, 360° Omnidirectional
Chassis Speed (m/s)
1.5
Computing Unit Configuration
Intel Core i9-12900HK, 32GB
CPU
14 Cores
GPU Maximum Frequency (MHz)
2.5
Overall Sensor Configuration
Head
1 x Stereo-Ready Dual Camera System
Wrist
2 x Depth Camera
Platform
1 x IMU
Chassis
5 x Monocular RGB Camera + 1 x 360° LiDAR + 1 x IMU
Galaxea R1 Lite 6-DOF Mobile Manipulation Robot Platform Galaxea R1 Lite 6-DOF Mobile Manipulation Robot Platform

Frequently Asked Questions

Where do you ship from?

Robotopian operates fulfillment capabilities in Shenzhen, Chinaa and Santa Clara, California.
Depending on the product, inventory condition, production arrrangement, and destination, orders may ship from different locations.

At this time, most newly manufactured robot orders ship primarily from Shenzhen, China. Selected inventory may also ship from Santa Clara when available.

Why are many orders shipped from China?

Most robotic products today still rely heavily on China-based supply chains. Many models enter sourcing, production scheduling, or manufacturing only after an order is placed.

By working directly with the China supply chain and our Shenzhen fulfillment system, Robotopian can coordinate procurement, warehouse handling, international transportation, and cross-border delivery more efficiently. In many cases, this also helps us provide a clearer cost structure and a more competitive fulfillment model.

In other words, shipping directly from China does not necessarily make the process more complicated. In many cases, it is actually a more direct and efficient way to fulfill specialized robotics orders.

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Robotopian ships to a broad range of major countries and regions worldwide. Actual destination availability may vary depending on the product type, local import regulations, shipping conditions, and fulfillment feasibility.

Common destinations may include, but are not limited to:

United States

Canada

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If your country or region is not shown at checkout, please contact the Robotopian team and we will evaluate a suitable shipping option for you.

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Where applicable, Robotopian aims to include standard cross-border fulfillment costs in the quoted order total and to make the major cost components clear before checkout.

This may include:
product price
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Why was my order split into multiple packages?

In some cases, one order may be split into multiple parcels or shipped from different fulfillment locations.

This may happen because:
the main unit and accessories become ready at different times
different items are fulfilled from different warehouses
some items are ready earlier and can ship first
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If split shipment occurs, Robotopian will make reasonable efforts to share the relevant shipping information.

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For standard cross-border orders, Robotopian will usually coordinate shipping, customs, and delivery arrangements to reduce complexity for the customer.

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For certain eligible orders, Robotopian may be able to provide additional shipping protection or commercial insurance options upon request.

Because eligibility depends on the product, destination, and shipping method, availability, structure, and pricing will need to be confirmed case by case.

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For certain eligible orders, Robotopian may offer additional services such as:

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These services are generally not included in standard delivery. If needed, please contact the Robotopian team in advance to confirm feasibility and pricing.

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For U.S. orders that have completed preparation and shipped from Shenzhen, the estimated transit time is typically 3–7 business days. Delivery timing for other destinations will vary.

Why hasn’t my tracking updated right after shipment?

This is common in international shipping.

After an order is packed and assigned for shipment, tracking may not update immediately until the parcel is scanned by the first carrier, handed through the airport process, or entered into the destination country’s local carrier network.

If your tracking does not change during the first few days after shipment, that is usually normal and does not necessarily mean the parcel is not moving.

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Depending on the shipping route, some orders may show limited tracking information during the early stages of international transit. Tracking details usually become more complete as the shipment moves through later carrier networks.

Can I cancel my order?

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Orders may be cancelled free of charge within 24 hours of placement.

If the order has already entered sourcing, production, scheduling, or manufacturing, Robotopian will refund 60% of the amount paid and retain 40% as a cancellation fee. This helps cover supplier deposits, scheduling allocation, and related processing costs.

Whether the order has entered one of these stages will be determined based on Robotopian’s internal system records and supply chain confirmation.

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If you have concerns about the order, it is best to contact the Robotopian team before the shipment is dispatched.

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