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  • Unitree G1
  • Unitree R1
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Spec
Unitree G1
Unitree R1
Weight~35+29 kg
Dimensions1320 x 450 x 2001230 × 357 × 190 mm
Degrees of freedom23-4326
Runtime2 hrs1 hrs
Battery / power13-cell lithium (quick release)—
Reach0.45 m—
ComputeNVIDIA Jetson OrinNVIDIA Jetson Orin
ModelUnitree G1 EDUR1
DOF breakdownLegs 6 · Arms 5 · Waist 1 + optional 2 · Hands 7 + optional 2 wristLegs 6 · Arms 5 · Waist 2 · Head 2
Folded size690 x 450 x 300—
Leg length0.6 m—
Max arm payload3 kg2 kg
Joint motorLow inertia high-speed internal rotor PMSMLow inertia high-speed internal rotor PMSM
Joint bearingIndustrial grade crossed roller bearingsCrossed Roller Bearings, Double Hook Ball Bearings
Joint encoderDual encoderDual + Single Encoder
Max knee torque120 Nm—
Knee range0 to 165°-10° to +139°
Hip rangeY ±158 · P ±154 · R -30 to +170yaw ±157° · roll -60° to +100° · pitch -168° to +146°
Waist range±155°yaw ±150° · roll ±30°
CoolingLocal air coolingLocal Air Cooling
VisionDepth camera, 3D LiDARMonocular Camera, Binocular Camera
Microphone4-mic array4-Mic Array
Speaker5 WYes
CPU8-core high-performance8-core High Performance CPU
ConnectivityWiFi 6 · BT 5.2WiFi 6 · Bluetooth 5.2
Dexterous handForce-control dexterous hand—
Secondary developmentSupportedSupported
Warranty18 months8 months
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