Unitree G1
by Unitree
Compare models
12 of 18 specs differ across 11 models
| Spec | G1G1 | G1G1 EDU-U1 | G1G1 EDU-U2 | G1G1 EDU-U3 | G1G1 EDU-U4 | G1G1 EDU-U5 | G1G1 EDU-U6 | G1G1 EDU-U7 | G1G1 EDU-U9 | G1G1-Comp | G1G1D |
|---|---|---|---|---|---|---|---|---|---|---|---|
| General | |||||||||||
| Height | 1320 mm | 1320 mm | 1320 mm | 1320 mm | 1320 mm | 1320 mm | 1320 mm | 1320 mm | 1320 mm | 1320 mm | 1680 mm |
| Degrees of Freedom | 23 | 23 | 29 | 43 | 43 | 41 | 41 | 41 | 37 | 25 | 33 |
| Walking Speed | 2 m/s | 2 m/s | 2 m/s | 2 m/s | 2 m/s | 2 m/s | 2 m/s | 2 m/s | 2 m/s | 2 m/s | 2 m/s |
| Weight | 35 kg | 35 kg | 35 kg | 35 kg | 35 kg | 35 kg | 35 kg | 35 kg | 35 kg | 35 kg | 35 kg |
| Battery Life | 2 h | 2 h | 2 h | 2 h | 2 h | 2 h | 2 h | 2 h | 2 h | 2 h | 2 h |
| Onboard Compute | 8-core high-performance CPU (optional NVIDIA Jetson Orin NX, 100 TOPS) | NVIDIA Jetson Orin NX (100 TOPS) | NVIDIA Jetson Orin NX (100 TOPS) | NVIDIA Jetson Orin NX (100 TOPS) | NVIDIA Jetson Orin NX (100 TOPS) | NVIDIA Jetson Orin NX (100 TOPS) | NVIDIA Jetson Orin NX (100 TOPS) | NVIDIA Jetson Orin NX (100 TOPS) | NVIDIA Jetson Orin NX (100 TOPS) | NVIDIA Jetson Orin NX (100 TOPS) | NVIDIA Jetson Orin NX (100 TOPS) |
| Sensors | Depth camera + 3D LiDAR (Livox Mid-360) | Depth camera + 3D LiDAR (Livox Mid-360) | Depth camera + 3D LiDAR (Livox Mid-360) | Depth camera + 3D LiDAR (Livox Mid-360) | Depth camera + 3D LiDAR (Livox Mid-360) | Depth camera + 3D LiDAR (Livox Mid-360) | Depth camera + 3D LiDAR (Livox Mid-360) | Depth camera + 3D LiDAR (Livox Mid-360) | Depth camera + 3D LiDAR (Livox Mid-360) | Intel RealSense D455 depth camera + 3D LiDAR (Livox Mid-360) | HD binocular camera + wrist cameras |
| Autonomy Level | teleoperated | teleoperated | teleoperated | teleoperated | teleoperated | teleoperated | teleoperated | teleoperated | teleoperated | teleoperated | teleoperated |
| Hand Degrees of Freedom (both hands total) | 0 | 0 | 0 | 14 | 14 | 12 | 12 | 12 | 14 | 0 | 0 |
| Fingers per Hand | 0 | 0 | 0 | 3 | 3 | 5 | 5 | 5 | 3 | 0 | 0 |
| Arm Degrees of Freedom (per arm) | 5 | 5 | 7 | 7 | 7 | 7 | 7 | 7 | 5 | 5 | 7 |
| Waist Degrees of Freedom | 1 | 1 | 3 | 3 | 3 | 3 | 3 | 3 | 1 | 1 | 3 |
| End-effector options | Optional: 3-finger gripper, Unitree Dex3-1 (3-finger) or Inspire 5-finger hands | None (standard 5-DoF arms) | None (upgraded 7-DoF arms + 3-DoF waist) | Unitree Dex3-1 — 3-finger, 7 DoF/hand (no tactile) | Unitree Dex3-1 with tactile — 3-finger, 7 DoF/hand, 33 sensors/hand | Inspire RH56 — 5-finger, 6 DoF/hand (no tactile) | Inspire RH56 with tactile — 5-finger, 6 DoF/hand, 17 sensors/hand | BrainCo Revo 2 Basic — 5-finger, 6 DoF/hand | Unitree Dex3-1 compact — 3-finger, 7 DoF/hand | None (2-DoF active-vision head) | None (HD binocular + wrist cameras) |
| Max Torque | 90 Nm | 90 Nm | 90 Nm | 90 Nm | 90 Nm | 90 Nm | 90 Nm | 90 Nm | 90 Nm | 90 Nm | 90 Nm |
| Payload Capacity | 2 kg | 2 kg | 2 kg | 2 kg | 2 kg | 2 kg | 2 kg | 2 kg | 2 kg | 2 kg | 3 kg |
| Degrees of Freedom per Hand | — | — | — | 7 | 7 | 6 | 6 | 6 | 7 | — | — |
| ITPU Tactile Sensing Units | — | — | — | 0 | 33 | 0 | 17 | 0 | 0 | — | — |
| Neck Degrees of Freedom | — | — | — | — | — | — | — | — | — | 2 | — |