Unitree G1

Unitree G1 from Unitree Robotics

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Beschreibung

Unitree G1

Humanoid agent AI avatar

Flexibility beyond ordinary people

Extra large joint movement angle space, 23~43 joint motors

Imitation & reinforcement learning driven

Robotics technology accelerated by AI is upgrading and evolving every day

Force control dexterous hand, manipulation of all things

Combined with force-position hybrid control, it is sensitive and reliable, and can simulate human hands to achieve precise operation of objects.

Robot world model, let’s create it together

UnifoLM (Unitree Robot Unified Large Model), create a new era of intelligence together

Start the agent New era

Parameters

Model	G1 Basic	G1 EDU
Height, Width and Thickness（Stand）	1320x450x200mm	1320x450x200mm
Height, Width and Thickness（Fold）	690x450x300mm	690x450x300mm
Weight (With Battery)	About 35kg	About 35kg+
Total Degrees of Freedom（Joint Freedom）	23	23 - 43
Single Leg Degrees of Freedom	6	6
Waist Degrees of Freedom	1	1+(Optional 2 additional waist degrees of freedom)
Single Arm Degrees of Freedom	5	5
Single Hand Degrees of Freedom	/	7（Optional Force control of three-fingered hand）+2(Optional 2 additional wrist degrees of freedom) Three-fingered dexterous hand Dex3-1 Parameter: The thumb has 3 active degrees of freedom; the index finger has 2 active degrees of freedom; the middle finger has 2 active degrees of freedom. *Dex3-1 can optionally be installed with tactile sensor arrays
Joint output bearing	Industrial grade crossed roller bearings (high precision, high load capacity)	Industrial grade crossed roller bearings (high precision, high load capacity)
Joint motor	Low inertia high-speed internal motor PMSM (permanent magnet synchronaus motor, better response speed and heat dissipation)	Low inertia high-speed internal motor PMSM (permanent magnet synchronaus motor, better response speed and heat dissipation)
Maximum Torque of Knee Joint【1】	90N.m	120N.m
Arm Maximum Load【2】	About 2Kg	About 3Kg
Calf + Thigh Length	0.6M	0.6M
Arm Span	About 0.45M	About 0.45M
Extra Large Joint Movement Space	Waist z-axis joint：±155° Knee joint：0~165° Hip joint：P±154°、R-30~+170°、Y±158°	Waist z-axis joint：±155° Knee joint：0~165° Hip joint：P±154°、R-30~+170°、Y±158°
Full Joint Hollow Electrical Routing	YES	YES
Joint Encoder	Dual encoder	Dual encoder
Cooling System	Local air cooling	Local air cooling
Power Supply	13 string lithium battery	13 string lithium battery
Basic Computing Power	8-core high-performance CPU	8-core high-performance CPU
Sensing Sensor	Depth Camera+3D LiDAR	Depth Camera+3D LiDAR
4 Microphone Array	YES	YES
5W Speaker	YES	YES
WiFi 6 、Bluetooth 5.2	YES	YES
High Computing Power Module	/	NVIDIA Jetson Orin(optional)
Smart Battery (Quick Release)	9000mAh	9000mAh
Charger	54V 5A	54V 5A
Manual Controller	YES	YES
Battery Life	About 2h	About 2h
Upgraded Intelligent OTA	YES	YES
Secondary Development【3】	/	YES
Warranty Period【4】	8 months	1 year

[1] The maximum torque of the joint motors of the whole machine is different. This is the maximum torque of the largest joint motor among them.
[2] The maximum load of the arm varies greatly under different arm extension postures.
[3] For more information, please read the secondary development manual.
[4] For more detailed warranty terms, please read the product warranty brochure.

The above parameters may vary in different scenarios and configurations, please subject to actual situation.
The humanoid robot has a complex structure and extremely powerful power. Users are asked to keep a sufficient safe distance between the humanoid robot and the humanoid robot.Please use with caution!
If any change in the appearance of the product, please refer to the actual product.
Some sample functions on this page are still being developed and tested, and will be opened to users in the future.
A civilian robot product. Dear various users(All users), please do not modify or use robots in dangerous ways.
Please visit Unitree Robotics official website to learn more about product-related terms and policies. Please abide by the laws and regulations of each region.

Options:

G1 Basic

Secondary development: NO

G1 Edu U1

Standard Edition

Secondary development: YES

Basic Edition +

Built-in expansion dock with 100Tops computing power, secondary
development -possible, including AI algorithms and technical support
Maximum torque of the knee joint upgraded to 120N.m
Maximum arm load upgraded to 3kg
Support high-level and low-level secondary development
Warranty period: 1 Year

G1 Edu U8

Standard Edition +

Equipped with 2 Dex3-1 force-controlled
three-finger dexterous hands (without tactile)
The whole machine has 37 degrees of freedom
18-month warranty for the whole machine

G1 Edu U9

Standard Edition +

Equipped with 2 Dex3-1 force-controlled
three-finger dexterous hands (with tactile)
The whole machine has 37 degrees of freedom
18-month warranty for the whole machine

G1 Edu U10

Standard Edition +

Equipped with 2 powerful five-finger dexterous
hands Revo 2 Basic Edition (Revo 2 Basic)
The whole machine has 35 degrees of freedom
18-month warranty for the whole machine

G1 Edu U2

Advanced Edition

Standard Edition +

The waist degree of freedom has been upgraded from 1 to 3
The single arm degree of freedom has been upgraded from 5 to 7,
and both arms have been upgraded
The whole machine has 29 degrees of freedom

G1 Edu U3

Advanced Edition +

Equipped with 2 Dex3-1 force-controlled
three-finger dexterous hands (without tactile)
The whole machine has 43 degrees of freedom

G1 Edu U4

Advanced Edition +

Equipped with 2 Dex3-1 force-controlled
three-finger dexterous hands (with tactile)
The whole machine has 43 degrees of freedom

G1 Edu U5

Advanced Edition +

Equipped with 2 five-finger dexterous hands
(Inspire - RH56DFQ-2R, RH56DFQ-2L)
The whole machine has 41 degrees of freedom

G1 Edu U6

Advanced Edition +

Equipped with 2 five-finger dexterous hands
(Inspire - RH56DFQ-2R, RH56DFQ-2L)
The dexterous hands have tactile sense
number of tactile sensors on a single hand: 17
The whole machine has 41 degrees of freedom

G1 Edu U7

Advanced Edition +

Equipped with 2 powerful five-finger dexterous
hands Revo 2 Basic Edition (Revo 2 Basic)
The whole machine has 41 degrees of freedom
18-month warranty for the whole machine