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Unitree G1 Humanoid Agent Series
Unitree G1 Humanoid Agent
Beyond Human Flexibility
Large range of joint movement, 23~43 joint motors.
Imitation and Reinforcement Learning Driven
AI-accelerated robotics are upgraded and developed every day.
Force-Controlled Dexterous Hand, Manipulating Everything
Combined with hybrid force/position control, it is sensitive and reliable, and can simulate human hands to achieve precise manipulation of objects.
Robot World Large Model, Co-create Together
UnifoLM (Unitree Robot Unified Large Model), co-creating a new era of intelligent agents.
Contact us for more information about Unitree robots!
Product Specifications
| Item | ||
|---|---|---|
| Model | G1 | G1 EDU |
| Height, Width, Thickness (standing) | 1320x450x200mm | 1320x450x200mm |
| Height, Width, Thickness (folded) | 690x450x300mm | 690x450x300mm |
| Weight with battery | Approx. 35kg | Approx. 35kg+ |
| Total Degrees of Freedom (Joint Motors) | 23 | 23 - 43 |
| Single Leg Degrees of Freedom | 6 | 6 |
| Waist Degrees of Freedom | 1 | 1+ (Optional 2 additional waist DoF) |
| Single Arm Degrees of Freedom | 5 | 5 |
| Single Hand Degrees of Freedom | / | 7 (Optional 3-finger dexterous hand Dex3-1 with force control) + 2 (Optional 2 additional wrist DoF) |
| 3-finger dexterous hand Dex3-1 parameters | - | Thumb with 3 active DoF; Index finger with 2 active DoF; Middle finger with 2 active DoF |
| Joint Output Bearings | Industrial-grade crossed roller bearings (high precision, high load capacity) | Industrial-grade crossed roller bearings (high precision, high load capacity) |
| Joint Motors | Low inertia high-speed inner rotor permanent magnet synchronous motor (better response speed and heat dissipation) | Inertia high-speed inner rotor permanent magnet synchronous motor (better response speed and heat dissipation) |
| Knee Joint Max Torque【1】 | 90N·m | 120N·m |
| Arm Max Load【2】 | Approx. 2Kg | Approx. 3Kg |
| Calf + Thigh Length | 0.6M | 0.6M |
| Arm Span | Approx. 0.45M | Approx. 0.45M |
| Extra-large Joint Movement Space | Waist joint: Z±155° Knee joint: 0~165° Hip joint: P±154°、R-30~+170°、Y±158° |
Waist joint: Z±155°、X±45°、Y±30° Knee joint: 0~165° Hip joint: P±154°、R-30~+170°、Y±158° Wrist joint: P±92.5°、Y±92.5° |
| Full Joint Hollow Internal Wiring | Yes | Yes |
| Joint Encoders | Dual encoders | Dual encoders |
| Cooling System | Local air cooling | Local air cooling |
| Power Supply | 13-series lithium battery | 13-series lithium battery |
| Basic Computing Power | 8-core high-performance CPU | 8-core high-performance CPU |
| Perception Sensors | Depth camera + 3D LiDAR | Depth camera + 3D LiDAR |
| 4 Microphone Array | Yes | Yes |
| 5W Speaker | Yes | Yes |
| WiFi6, Bluetooth 5.2 | Yes | Yes |
| High Computing Power Module | / | NVIDIA Jetson Orin |
| Smart Battery (quick-release) | 9000mAh | 9000mAh |
| Charger | 54V 5A | 54V 5A |
| Handheld Remote Control | Yes | Yes |
| Battery Life | Approx. 2 hours | Approx. 2 hours |
| Smart OTA Upgrade | Yes | Yes |
| Secondary Development【3】 | / | Yes |