Moz1

Spirit AI of Beijing stands out with the Moz1 for publishing developer documentation openly, covering unboxing, transport, mechanics and teleoperation. Presented in June 2025, the wheeled humanoid has 26 degrees of freedom with integrated force-controlled joints: four in the base, six in the leg and hip section, seven in each of the two bionic arms and two in the neck.

The omnidirectional wheeled chassis is limited in the documentation to 0.5 m/s in Cartesian motion. Safety, according to the maker, rests on a whole-body safe-torque-off function and collision detection. The battery runs at 54.8 V, is rated for at least 1,000 cycles and charges at 10 A; runtime is not specified.

Computing is split between an industrial PC and a separate inference computer, and the software consists of Spirit AI's own vision-language-action models, including a Pi0.5 adaptation released as an open resource. Dimensions and weight appear only as a drawing in the documentation, so they are not given as numbers here; the sensor set and the type of hand are not itemised either.

Demonstrated tasks include folding laundry, tidying an office and fine-motor jobs on voice command, with research institutes, education and households as the audience. Status is pilot, price on request. Among comparable wheeled platforms the RealBot-S2 has a similar arm layout but a faster chassis.