Overview
Developed by a Beijing government- and industry-backed consortium (X-Humanoid) and first shown in April 2024. A Tiangong Ultra won the world's first humanoid half marathon in Beijing in April 2025 (about 2 h 40 min). The center has released designs and software as open source, and by 2026 was selling Tiangong 3.0 through a channel-partner network in China.
- Type
- Biped robot · Research & legacy bipeds
- Maker
- Beijing Humanoid Robot Innovation Center (China)
- Released
- 2024
- Price
- Quote (China)
- Status
- Available
- Best for
- Professionals & labs
- Programming
- Open source (hardware + software)
Price and shipping
Sold through X-Humanoid and its channel partners. No public list price for Tiangong 3.0
Shipping: Not available. Sold by quote in China through X-Humanoid and channel partners (first 12 appointed September 2026). No US channel.
Specifications
| Category | Bipeds · Research & legacy bipeds |
|---|---|
| Released | 2024 |
| Country | China |
| Availability | Available |
| Programmability | Open source (hardware + software) |
| Built-in autonomy | Task-level · Carries out multi-step jobs on its own, such as inspections, deliveries or chores |
| LLM support | Official LLM tools · Tiangong 3.0 runs the Huisi Kaiwu platform with an open-sourced VLM (Pelican-VL) for task breakdown. How much ships by default is unclear, so rated tools. Interesting Engineering ↗ |
| MuJoCo simulation | Official model · X-Humanoid's xSIM_MUJOCO simulates Tiangong 3.0, and TienKung-Lab includes MuJoCo sim2sim. xSIM_MUJOCO ↗ |
| NVIDIA Isaac simulation | Sim-to-real kit · X-Humanoid's TienKung-Lab trains in Isaac Lab, and Deploy_Tienkung runs policies on the real robot. TienKung-Lab ↗ |
| Gazebo simulation | Maker URDF only · X-Humanoid publishes Tiangong URDFs, with no Gazebo package found. TienKung_URDF ↗ |
| Best for | Professionals & labs |
| Vision sensors | Camera |
| Actuators | Brushless / direct-drive motors |
| Audio | Unknown |
| Compute type | Proprietary / undisclosed |
| Balance type | RL walking |
| Height | ~163 cm (2024 original), 170 cm (Tiangong 3.0) |
| Weight | ~43 kg (2024 original), 64.5 kg (Tiangong 3.0) |
| Compute | Tiangong 3.0: 4.8 GHz main controller plus a 2,070 TOPS compute module |
| Speed | Up to ~12 km/h (Tiangong Ultra, reported) |
| DOF | Tiangong 3.0: 31 body (2 head, 3 waist, 14 arms, 12 legs) plus optional dexterous hands |
| Sensors | Head cameras, IMU |
| Balance | RL-based running control. The Ultra version finished a half marathon. |
| SDK | Open-source releases (details vary by version) |
Common questions
How much does Tiangong cost?
Quote (China). Sold through X-Humanoid and its channel partners. No public list price for Tiangong 3.0.
Can Tiangong be bought today?
Yes, it is on sale. Sold by quote in China through X-Humanoid and channel partners (first 12 appointed September 2026). No US channel.
Who makes Tiangong?
Tiangong is made by Beijing Humanoid Robot Innovation Center (China). It came out in 2024.
Can Tiangong be programmed?
Open source (hardware + software). Open-source releases (details vary by version).
Does Tiangong have AI chat or LLM support?
Official LLM tools. Tiangong 3.0 runs the Huisi Kaiwu platform with an open-sourced VLM (Pelican-VL) for task breakdown. How much ships by default is unclear, so rated tools.
Ratings & reviews
Ratings and reviews load on the live site.
Related guides
- Robot Gaits and Gait Training · how legged robots walk, trot and gallop
- MuJoCo Guide · the simulator used to train walking robots
- ROS 2 Guide · the software framework many robots use
- Robot Vision and Depth Sensors · cameras, lidar and other distance sensors
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