Unitree G1 / g1

Unitree G1 G1

Official Unitree G1 base specification column.

Unitree Robotics

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Gallery

Unitree G1 official parameter image for G1 edition

Official record

Official specifications

Source-backed specifications, arranged for fast reading.

Identity

Manufacturer: Unitree Robotics
Model: G1
Robot type: Humanoid robot

Mechanical Dimensions

Height, Width and Thickness (Stand)

1320x450x200mm

Height, Width and Thickness (Fold)

690x450x300mm

Weight (With Battery)

About 35kg

Calf + Thigh Length

0.6M

Arm Span

About 0.45M

2 notes

Height, Width and Thickness (Stand): Official label uses Height, Width and Thickness（Stand）.
Height, Width and Thickness (Fold): Official label uses Height, Width and Thickness（Fold）.

Actuation

Total Degrees of Freedom (Joint Freedom): 23
Single Leg Degrees of Freedom: 6
Waist Degrees of Freedom: 1
Single Arm Degrees of Freedom: 5
Joint output bearing: Industrial grade crossed roller bearings (high precision, high load capacity)
Joint motor: Low inertia high-speed internal rotor PMSM(permanent magnet synchronous motor,better response speed and heat dissipation)
Maximum Torque of Knee Joint: 90 N·m
Extra Large Joint Movement Space: Waist joint：Z±155°; Knee joint：0~165°; Hip joint：P±154°、R-30~+170°、Y±158°

2 notes

Total Degrees of Freedom (Joint Freedom): Official label uses Total Degrees of Freedom（Joint Freedom）.
Maximum Torque of Knee Joint: Official footnote [1]: maximum torque of the largest joint motor among the whole machine.

Manipulation

Single Hand Degrees of Freedom: /

1 notes

Single Hand Degrees of Freedom: Official notes: Dex3-1 thumb has 3 active DOF; index finger 2; middle finger 2. Dex3-1 can optionally be installed with tactile sensor arrays.

Payload

Arm Maximum Load: About 2Kg

1 notes

Arm Maximum Load: Official footnote [2]: arm maximum load varies greatly under different arm extension postures.

Electrical Characteristics

Full Joint Hollow Electrical Routing: YES
Joint Encoder: Dual encoder

Thermal

Cooling System: Local air cooling

Power

Power Supply: 13 string lithium battery
Smart Battery (Quick Release): 9000mAh
Charger: 54V 5A
Battery Life: About 2h

Compute

Basic Computing Power: 8-core high-performance CPU

Perception

Sensing Sensor: Depth Camera+3D LiDAR

Audio

4 Microphone Array: YES
5W Speaker: YES

Communication

WiFi 6, Bluetooth 5.2: YES

Accessories

High Computing Power Module: /

Control

Manual Controller: YES

Software

Upgraded Intelligent OTA: YES
Secondary Development: /

1 notes

Secondary Development: Official footnote [3]: for more information, read the secondary development manual.

Commercial

Warranty Period: 8 months
Price (Tax and Shipping cost excluded): US $13.5K USD

1 notes

Warranty Period: Official footnote [4].

Notes

Parameter footnotes: Official page footnotes [1]-[4] qualify knee torque, arm load, secondary development documentation, and warranty period.