Unitree H1 H1

Original Unitree H1 humanoid edition from the official H1 parameter table.

Unitree Robotics

Official record

Official specifications

Source-backed specifications, arranged for fast reading.

Joint output bearing: Industrial grade crossed roller bearings (high precision, high load capacity)
Core Joint motor: Low inertia high-speed internal rotor PMSM (permanent magnet synchronous motor, better response speed and heat dissipation)
Battery capacity: 15Ah (0.864KWh), Max Voltage 67.2V
Max battery voltage: 67.2V

Key Dimensions: (1520+285)mm × 570mm × 220mm
Thigh and Calf Length: 400mm × 2
Total Arm Length: 338mm × 2
DOF of Each Leg: 5 (Hip × 3 + Knee × 1 + Ankle × 1)
DOF of Each Arm: 4 (Expandable)
Total Weight: About 47kg
Knee Torque: About 360N·m
Hip Joint Torque: About 220N·m
Ankle Torque: About 59N·m
Arm Joint Torque: About 75N·m
Moving speed: 3.3m/s (world record), potential mobility > 5m/s
Computing Power: Standard: Intel Core i5 (Platform Function), Intel Core i7 (User Development); optional i7/Orin NX etc.
Arm joint performance (peak torque): /
Arm normal load: /