Tien Kung 2.0 vs Walker S1
Side-by-side comparison of Tien Kung 2.0 (X-Humanoid) and Walker S1 (UBTECH Robotics Corp Ltd.) — specs, pricing, Robo Score, and verified deployments. Updated daily.
Optimize comparison for buyer
Optimized for Hospitality & F&B buyers. Priority specs lifted to the top and marked with a target.
Layer 1: Identity & Trust
Manufacturer Country
- Tien Kung 2.0China
- Walker S1China
Year First Available
- Tien Kung 2.02024
- Walker S12024
Verified Deployments
- Tien Kung 2.00 Deployments
- Walker S10 Deployments
Layer 2: Operational
Price
- Tien Kung 2.0$41,000 USD
- Walker S1$75,000 USD
Battery / Shift Runtime
- Tien Kung 2.02.5 hrs
- Walker S12 hrs
Availability Status
- Tien Kung 2.0ACTIVE
- Walker S1ACTIVE
Physical Form Factor
Weight
- Tien Kung 2.050 kg
- Walker S176 kg
Height
- Tien Kung 2.0160 mm
- Walker S1130 mm
Mobility Type
- Tien Kung 2.0bipedal
- Walker S1bipedal
Humanoid Subtype
- Tien Kung 2.0full bipedal
- Walker S1full bipedal
Walking Speed
- Tien Kung 2.01.7 m/s
- Walker S10.8 m/s
Stair Climbing
- Tien Kung 2.0Yes
- Walker S1Yes
Terrain
- Tien Kung 2.0flat indoor, uneven outdoor
- Walker S1flat indoor, uneven outdoor, gravel, tile, thick carpet, lawn
Payload & Dexterity
Payload
- Tien Kung 2.010 kg
- Walker S110 kg
Total DOF
- Tien Kung 2.020
- Walker S141
Arm DOF
- Tien Kung 2.07
- Walker S17
Hand DOF
- Tien Kung 2.05
- Walker S16
Arm Reach
- Tien Kung 2.0—
- Walker S160 cm
Bimanual Coordination
- Tien Kung 2.0Yes
- Walker S1Yes
Compute & AI
Onboard Compute
- Tien Kung 2.0Intel i7
- Walker S1Intel i7 8665U Frequency 1.9Ghz *2, NVIDIA GT1030 graphics card, 384 cores
VLM Capable
- Tien Kung 2.0No
- Walker S1No
Foundation Models
- Tien Kung 2.0false
- Walker S1false
Imitation Learning
- Tien Kung 2.0Yes
- Walker S1No
Programming
- Tien Kung 2.0ROS 2
- Walker S1ROS 2.0
Battery & Power
Runtime
- Tien Kung 2.08 hrs
- Walker S12 hrs
Battery Swap
- Tien Kung 2.0No
- Walker S1No
Software
SDK Languages
- Tien Kung 2.0Python, C++
- Walker S1Python
ROS Support
- Tien Kung 2.0Yes
- Walker S1Yes
Open API
- Tien Kung 2.0Yes
- Walker S1Yes
Reliability
Deployment Maturity
- Tien Kung 2.0commercial
- Walker S1commercial
Commercial
Price (USD)
- Tien Kung 2.0$41,000 USD
- Walker S1$75,000 USD
Price Tier
- Tien Kung 2.040-80K
- Walker S140-80K
Pricing Model
- Tien Kung 2.0—
- Walker S1purchase
Warranty
- Tien Kung 2.02 yrs
- Walker S12 yrs
Applications
- Tien Kung 2.0research, eldercare_assistance, teleoperation
- Walker S1service, entertainment, education
| | |
|---|---|---|
| Layer 1: Identity & Trust | ||
| Manufacturer Country | China | China |
| Year First Available | 2024 | 2024 |
| Verified Deployments | 0 Deployments | 0 Deployments |
| Layer 2: Operational | ||
| Price (values differ) | $41,000 USD | $75,000 USD |
| Battery / Shift Runtime (priority for Hospitality & F&B buyers) (values differ) | 2.5 hrs | 2 hrs |
| Availability Status | ACTIVE | ACTIVE |
| Layer 3: Category Specific | ||
| Physical Form Factor | ||
| Weight (priority for Hospitality & F&B buyers) (values differ) | 50 kg | 76 kg |
| Height (values differ) | 160 mm | 130 mm |
| Mobility Type | bipedal | bipedal |
| Humanoid Subtype | full bipedal | full bipedal |
| Walking Speed (values differ) | 1.7 m/s | 0.8 m/s |
| Stair Climbing | Yes | Yes |
| Terrain (values differ) | flat indoor, uneven outdoor | flat indoor, uneven outdoor, gravel, tile, thick carpet, lawn |
| Payload & Dexterity | ||
| Payload | 10 kg | 10 kg |
| Total DOF (values differ) | 20 | 41 |
| Arm DOF | 7 | 7 |
| Hand DOF (values differ) | 5 | 6 |
| Arm Reach (values differ) | — | 60 cm |
| Bimanual Coordination | Yes | Yes |
| Compute & AI | ||
| Onboard Compute (values differ) | Intel i7 | Intel i7 8665U Frequency 1.9Ghz *2, NVIDIA GT1030 graphics card, 384 cores |
| VLM Capable | No | No |
| Foundation Models | false | false |
| Imitation Learning (values differ) | Yes | No |
| Programming (values differ) | ROS 2 | ROS 2.0 |
| Battery & Power | ||
| Runtime (values differ) | 8 hrs | 2 hrs |
| Battery Swap | No | No |
| Software | ||
| SDK Languages (values differ) | Python, C++ | Python |
| ROS Support | Yes | Yes |
| Open API | Yes | Yes |
| Reliability | ||
| Deployment Maturity | commercial | commercial |
| Commercial | ||
| Price (USD) (values differ) | $41,000 USD | $75,000 USD |
| Price Tier | 40-80K | 40-80K |
| Pricing Model (values differ) | — | purchase |
| Warranty | 2 yrs | 2 yrs |
| Applications (values differ) | research, eldercare_assistance, teleoperation | service, entertainment, education |
Insufficient data for full comparison
The following fields had no data for any of the selected robots: Running Capable, Payload (Peak), Grip Strength, Manipulation Repeatability, Tool Use, Compute Platform, Teleoperation, Battery Capacity, Charging Time, Charging Method, Avg Power Consumption, Force-Limited Arms, Fall Recovery, Fall Detection Response, Emergency Stops, Human Detection Method, Safe Speed Near Humans, Simulation Platforms, Air-Gap Capable, MTBF, Task Success Rate, IP Rating, Noise Level, RaaS / Month, Developer Unit Price, Delivery Lead Time, Production Pilots
ROI Comparison
Same operating assumptions across every robot — the only difference is price. Set your numbers once to see which pays back fastest.
Annual labor displaced (per robot): $50,000
| Metric | Tien Kung 2.0 | Walker S1 |
|---|---|---|
| Investment | $41,000 | $75,000 |
| Payback period | 9.8 mo | 18.0 mo |
| Net savings (5 yr) | $209,000 | $175,000 |
| ROI (5 yr) | +510% | +233% |
Estimates labor-cost displacement only — not a full total cost of ownership. Actual ROI depends on integration, maintenance, training, downtime, and task fit. Converted currencies are indicative; USD is the price of record.
Trade-offs at a glance
Frequently asked
Who makes Tien Kung 2.0 and Walker S1?
Tien Kung 2.0 is made by X-Humanoid, based in CN. Walker S1 is made by UBTECH Robotics Corp Ltd., based in CN.
When were Tien Kung 2.0 and Walker S1 launched?
Tien Kung 2.0 launched in 2024. Walker S1 launched in 2024.
How much does Tien Kung 2.0 cost compared to Walker S1?
Tien Kung 2.0 is listed at $41,000. Walker S1 is listed at $75,000.
How do Tien Kung 2.0 and Walker S1 compare on the Robo Score?
Tien Kung 2.0 scores 59.5 on the Robo Score. Walker S1 scores 69.6. The Robo Score is a 0–100 credibility figure blending commercial maturity, verified deployments, company standing, and independent coverage — see methodology for the full breakdown.
What is the payload difference between Tien Kung 2.0 and Walker S1?
Tien Kung 2.0 carries up to 5 kg. Walker S1 carries up to 10 kg.
Are Tien Kung 2.0 and Walker S1 in the same category?
Both robots are classified as Humanoid on Robolist. Filters and ranking treat them as direct alternatives.
What is the realistic total cost of ownership for Humanoid robots?
Hardware cost is one input. Humanoid TCO also includes integration, training, downtime, and end-of-life. Our breakdown: Humanoid TCO: Hardware, Cloud Subscriptions, and the Cost of Teleop Time.
What should a buyer ask vendors when choosing between Tien Kung 2.0 and Walker S1?
Spec sheets only show part of the story. Useful vendor questions cover support, lifecycle, integration cost, and references. We have a buyer-focused checklist: Vendor Selection for Humanoids: The 10 Questions You Must Ask.
Going deeper — picking the right robot
Humanoid TCO: Hardware, Cloud Subscriptions, and the Cost of Teleop Time
8 min readHumanoid Robots
Vendor Selection for Humanoids: The 10 Questions You Must Ask
10 min readHumanoid Robots
Running a Humanoid Pilot: Scope, Success Criteria, and Exit Options
9 min readHumanoid Robots
Build vs buy vs lease: which model fits a first deployment
8 min readChoosing Your First Robot
The hidden specs vendors hope you'll miss
10 min readReading the Spec Sheet
Want to be notified when specs or pricing change for these robots? Drop your email.
Other comparisons
About this comparison
Tien Kung 2.0 vs Walker S1 compares two robots in the humanoid category. All data is sourced from manufacturer spec sheets, verified deployments, and third-party filings; see our methodology for how the Robo Score is calculated.