I'm not sure if this is what you're looking for but the only PS2 launch title with a robot in it is Armored Core 2 because back then only launch titles came with consoles with a few rare exceptions. Hope this helps.
I'm not entirely sure but that sounds a lot like the Gauntlet series, although they typically had 4 playable characters but there are a large amount of gauntlet games so maybe look into those?
Hey I've been trying to remember an old PS2 game I played a long time time ago all I can remember from it is that its a 3D RPG game and I can remember a single boss, how the boss worked is to get to him you had to go into this mountain side hideout thing and there were a bunch of half naked...
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