X-Humanoid Tian Yi 2.0 Wheeled Humanoid Robot (Tian Yi 2.0)

Tian Yi 2.0 Wheeled Humanoid Robot (Tian Yi 2.0)

Official product materials describe Tian Yi 2.0 as a robot that integrates multimodal perception and embodied manipulation, targeting routine tasks such as patrol inspection, guided reception, and autonomous actions in offices, factories, and industrial sites.

Within X-Humanoid’s product lineup, Tian Yi 2.0 is often presented alongside biped humanoid platforms such as the “Embodied Tien Kung/Tiangong” series, but it emphasizes practical mobility and manipulation for structured environments where smooth floors, elevators, and corridors are common. Vendor listings confirm the model name and category as “Wheeled Humanoid” under the X-HUMANOID brand.

Design and Features

Wheeled humanoid body plan (wheel–arm configuration)

Tian Yi 2.0 follows a design approach frequently used for service and industrial robotics: a stable wheeled base for navigation, paired with a humanoid upper body for reach, interaction, and dexterous tasks. X-Humanoid’s official description characterizes it as a wheel–arm robot that merges perception and embodied operation capabilities for patrol, inspection, and autonomous work.

This configuration is especially suited to environments optimized for wheeled movement (warehouses, office buildings, production floors), where energy efficiency and sustained operation are often prioritized over the terrain flexibility of bipedal locomotion.

Multimodal perception for patrol and inspection

Official materials state that Tian Yi 2.0 supports patrol and inspection tasks using visible-light recognition and thermal infrared recognition, and can use large-model capabilities to customize what objects it recognizes as needed.
This “configurable recognition” framing aligns with modern robotics trends where perception pipelines can be updated through software modules rather than hardware redesign.

Autonomous elevator usage and human-environment interaction

A prominent feature emphasized by X-Humanoid is autonomous elevator operation without infrastructure modification. Using its mechanical arm and gripper, Tian Yi 2.0 can identify elevators and complete access actions such as pressing buttons and swiping cards, enabling autonomous passage through multi-floor buildings.
The same manipulation stack is presented as supporting everyday actions including carrying items, operating switches/buttons, and opening/closing cabinet doors.

“One robot, multiple roles” through software modules

X-Humanoid highlights Tian Yi 2.0 as a platform designed for multi-purpose deployment. The official product page describes a model where the same hardware can be used for different roles by selecting different software modules—for example, night patrol combined with daytime reception—to increase overall utilization.

Remote operation and teleoperation support

Tian Yi 2.0 also supports remote operation concepts. X-Humanoid describes remote control via VR equipment or an operator “cockpit,” where one operator can take over multiple robots for fine manipulation and decision support during exceptions, including in higher-risk environments to reduce human exposure.

Technology and Specifications

Note: The most direct, manufacturer-style specification snapshot for Tian Yi 2.0 appears as a published parameter graphic from X-Humanoid’s official product page.

Core physical and power specifications

According to X-Humanoid’s published parameters, Tian Yi 2.0 includes the following baseline characteristics:

• Height: 130–165 cm

• Weight: 88.5 kg

• Endurance: > 2 hours

• Battery: 15Ah, 48V

The height range suggests multiple configurations or adjustable structure options (common in mobile manipulators where sensor mast height or upper-body modules vary by use case).

Compute platform and AI performance (TOPS)

The same published parameters list onboard compute as:

• Compute: NVIDIA Orin AGX (275 TOPS)

This level of embedded compute is typically used for real-time perception, sensor fusion, navigation, manipulation planning, and AI-assisted interaction workloads.

Sensor suite and microphones

X-Humanoid’s parameters indicate an onboard perception suite including:

• Cameras: Head RGBD ×1; Base RGBD ×2; RGB ×1

• LiDAR: Single-line LiDAR ×1

• Voice module: Wired microphones ×4

This mix supports navigation safety (depth + LiDAR), object interaction (RGBD), and spoken interaction (microphone array).

Degrees of freedom and actuation structure

The published parameters also list an overall degrees-of-freedom structure, indicating a humanoid-style upper body integrated with a mobile base:

• Total DOF: 35 (with sub-components including head, dual hands/arms, waist, legs, base, and dexterous hands)

While exact joint allocation may vary by build, the listing signals a platform intended for whole-body motion and practical manipulation rather than a simple “arm on wheels.”

Communications and control environment

For integration into robotics stacks, X-Humanoid lists:

• External communications: Wi-Fi 6, Ethernet, Bluetooth

• Internal communications: CAN / EtherCAT (500–1 kHz)

• Dexterous hand: 20 Hz

• Robotic arm: ≥ 200 Hz

• RGBD camera: 30 Hz

The same parameters list:

• Operating system: Ubuntu 22.04

• Control layer: ROS 1

These details position Tian Yi 2.0 as a robotics-developer-oriented system, compatible with established ROS workflows for perception, navigation, and manipulation.

Applications and Use Cases

Patrol, safety inspection, and facility monitoring

X-Humanoid explicitly frames Tian Yi 2.0 for patrol and inspection in offices and factory sites, using visible and thermal recognition to identify objects and conditions relevant to operations and safety.
Typical deployments in this category include after-hours rounds, equipment checks, perimeter passes, and alert escalation workflows.

Reception, guiding, and interactive navigation

The platform is also promoted for reception and guided tours, providing low-latency voice interaction and Q&A based on a knowledge base, with an interaction model that supports interruptions and follow-up prompts.
This makes it relevant for corporate lobbies, showrooms, research centers, and public-facing facilities.

Mobile manipulation in structured workplaces

With arms and grippers, Tian Yi 2.0 is positioned to perform routine “human-environment” actions: opening doors, pressing buttons, operating cabinets, and moving objects.
The wheeled base supports efficient travel between task points—particularly in facilities optimized for carts, forklifts, and mobile platforms.

Early industrial production-line deployments

Public announcements and coverage indicate that Tian Yi 2.0 has progressed beyond controlled demos into pilot industrial workflows. A CES 2026-related announcement describes Embodied Tien Kung 2.0 and Tian Yi 2.0 operating on an unmanned production line at a Foton Cummins engine plant, autonomously handling bin pickup, transport, and placement across varying shelf heights and container types.

Advantages / Benefits

Efficiency and stability of wheels in indoor/industrial spaces

For many sites, wheeled motion is simpler to deploy than biped locomotion: it is typically more energy-efficient, stable at low speeds, and easier to validate for routine navigation. Tian Yi 2.0 leverages this with an embodied upper body intended to preserve “humanoid” task compatibility while reducing locomotion complexity.

Practical autonomy features for real buildings

Autonomous elevator operation is a high-leverage feature for multi-floor facilities, enabling real deployment without major retrofits. X-Humanoid highlights that Tian Yi 2.0 can press buttons and swipe cards to ride elevators without modifying the environment.

Developer-oriented robotics stack

Ubuntu + ROS-based design choices and explicit comms/perception update rates support integration into existing robotics engineering workflows, from mapping and navigation to manipulation testing and fleet operations.

Role-switching through modular software

The “one machine, multiple uses” concept makes Tian Yi 2.0 attractive where utilization matters—especially if one robot can alternate between security patrol roles and daytime reception roles with software configuration changes.

FAQ Section

What is X-Humanoid Tian Yi 2.0?

Tian Yi 2.0 is a wheeled humanoid robot from X-Humanoid designed for patrol/inspection, reception, and autonomous mobile manipulation in offices and industrial sites.

How does Tian Yi 2.0 work?

It combines a wheeled mobile base for navigation with a humanoid-style upper body, using RGBD cameras, LiDAR, and onboard compute to support perception, interaction, and manipulation (such as pressing buttons and opening doors).

Why is Tian Yi 2.0 important?

It represents a practical “embodied AI” platform that can operate in real facilities—performing inspection, interaction, and mobile manipulation tasks while benefiting from the efficiency of wheeled locomotion.

What are the benefits of Tian Yi 2.0?

Key benefits include multimodal patrol/inspection (visible + thermal), autonomous elevator operation, remote operation options, and a ROS-based stack suitable for real deployments and integration.

Summary

The X-Humanoid Tian Yi 2.0 is a wheeled humanoid mobile manipulation platform built for practical operation in offices, factories, and industrial sites. With multimodal perception (including visible and thermal recognition), autonomous building interaction (such as elevator button pressing and card swiping), and a developer-friendly stack based on Ubuntu 22.04 + ROS, it targets real-world roles like patrol inspection, reception/guiding, and logistics-style manipulation tasks. Its combination of an efficient wheeled base and humanoid-style interaction capabilities positions Tian Yi 2.0 as a practical embodiment of “useful humanoid robotics” for structured environments where reliability and deployment speed matter most.