Unitree H1 H1-2

Updated Unitree H1-2 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: (1503+285)mm × 510mm × 287mm
Thigh and Calf Length: 400mm × 2
Total Arm Length: 685mm
DOF of Each Leg: 6 (Hip x 3 + Knee x 1 + Ankle x 2)
DOF of Each Arm: 7 (Shoulder x 3 + Elbow x 1 + Wrist x 3)
Total Weight: About 70kg
Knee Torque: About 360N·m
Hip Joint Torque: About 220N·m
Waist Joint Torque: About 220N·m
Ankle Joint Torque: About 75x2N·m
Moving speed: <2m/s
Computing Power: Standard: Intel Core i5 (Platform Function), Intel Core i7 (User Development); optional i7/Orin NX, maximum up to 3 devices
Arm joint performance (peak torque): Shoulder: About 120N·m, Elbow: About 120N·m, Wrist: About 30N·m
Arm normal load: Peak: About 21Kg; Rated: About 7Kg