Unitree G1 Humanoid Robot

Form factor and kinematics

G1’s standing dimensions are listed as 1320 × 450 × 200 mm with a folded size of 690 × 450 × 300 mm, allowing transport in standard cases. With battery installed, mass is about 35 kg (35 kg+ for some EDU builds). The platform provides 6 DoF per leg, 5 DoF per arm, and 1 waist DoF (EDU can add up to 2 extra waist DoF; hand and wrist DoF expand with Unitree’s Dex3-1 three-finger dexterous hand). 

Hands and end-effectors

The optional Dex3-1 hand provides 7 active DoF across thumb, index, and middle fingers (3-2-2) with support for tactile sensor arrays, enabling grasp studies and dexterous manipulation at lower cost than multi-finger research hands. 

Sensing and perception

Unitree specifies “Depth Camera + 3D LiDAR” on G1; retailer and integrator pages commonly identify the sensors as Intel RealSense D435/D435i and Livox MID-360 for 360° perception. The combination supports visual-inertial depth and solid-state LiDAR for mapping, obstacle avoidance, and near-field awareness in indoor environments. 

Compute, connectivity, and OTA

Standard G1 includes an 8-core high-performance CPU, Wi-Fi 6, Bluetooth 5.2, a four-mic array, and a 5 W speaker, with OTA software updates. The G1 EDU option adds a Jetson Orin module for on-board AI workloads and enables secondary development (the base SKU is not intended for deep software customization). 

Technology and Specifications

Mechanical and joint performance

G1 uses industrial crossed-roller bearings and low-inertia internal-rotor PMSM joint motors. Max knee torque is specified at 90 N·m on G1 and 120 N·m on G1 EDU. Unitree highlights “extra-large joint movement” including waist Z ± 155°, knee 0–165°, hip P ± 154°, R −30 ~ +170°, Y ± 158°, and (on EDU) wrist P ± 92.5°, Y ± 92.5°. Dual encoders, local air cooling, and full joint-hollow routing are standard. 

Power and runtime

Both G1 and G1 EDU use a 13-series smart lithium battery rated 9000 mAh with quick-release support and a 54 V 5 A charger. Advertised battery life is about 2 hours under typical mixed workloads. 

Size & weight summary (representative)

• Height (stand): 1320 mm; folded: 690 mm

• Width/Thickness: 450 × 200 mm

• Weight (with battery): ~35 kg (G1), ~35 kg+ (G1 EDU)

• Total DoF: 23 (G1), 23–43 (G1 EDU)

• Arm max load: ~2 kg (G1), ~3 kg (G1 EDU)

Variants and special editions

Unitree also promotes a G1-Comp configuration for competitions (e.g., RoboCup Humanoid League), listing 25–45 DoF, ~35 kg weight, ~130 cm height, and ~2 h battery life—useful context for teams adopting the platform. 

Applications and Use Cases

• Research & higher education: The EDU configuration (with Orin and SDKs) is aimed at locomotion, whole-body control, manipulation, and embodied AI experimentation. The standard G1 supports demonstrations, HRI studies, and light task prototyping where full custom software is not required. 

• Human–robot interaction (HRI): 360° sensing plus audio I/O and display options make G1 suitable for dialog, gesture, and social navigation research in labs, museums, and public demos. Third-party summaries highlight dexterous motions like soldering and pan-flipping in curated demos. 

• Education & outreach: Folding geometry, ~35 kg mass, and quick-swap battery facilitate mobile, classroom-friendly deployments and event use. 

• Competitions: The G1-Comp package aligns with RoboCup rulesets, offering expanded DoF and runtime for bipedal locomotion and soccer tasks. 

Advantages / Benefits

1. Affordable entry point: Official pricing from US $16K lowers barriers for labs and startups compared with full-size humanoids.Portable, compact design: 132 cm height and ~35 kg weight (foldable to 690 mm) ease shipping and setup.

2. Scalable capability (23–43 DoF): Users can add waist, wrist, and dexterous hand DoF in EDU configurations as research needs grow.

3. Rich perception suite: RealSense D435/D435i plus Livox MID-360 are widely supported components with robust ecosystems for mapping and SLAM. 

4. Developer-ready EDU path: Jetson Orin and official developer docs/SDKs on support.unitree.com streamline custom behaviors and integration. 

FAQ Section

What is Unitree G1?
A compact humanoid robot for research, education, demos, and competitions, offering 23 DoF (standard) and up to 43 DoF (EDU) with optional dexterous hands.

How does Unitree G1 work?
G1 combines PMSM actuators, dual-encoder joints, and local air cooling with RealSense depth and Livox MID-360 LiDAR for 3D perception; EDU versions add Jetson Orin for on-board AI and secondary development. 

Why is G1 important?
It provides human-scale embodiment at lower cost, enabling labs and startups to prototype locomotion, manipulation, and HRI without investing in full-size humanoids.

What are the benefits of the EDU version?
Higher DoF ceiling (to 43), Jetson Orin compute, SDK access, and support for dexterous hands—better suited to advanced research and competitions. 

How long does the battery last?
Unitree specifies about 2 hours per 9000 mAh quick-release pack (actual time depends on motion profile and loads).

Summary

The Unitree G1 occupies a sweet spot between tabletop teaching aids and full-size industrial humanoids. Its 23–43 DoF, 2-hour runtime, RealSense + Livox sensing, and EDU pathway with Jetson Orin make it a practical, scalable platform for embodied AI, locomotion, manipulation, and HRI research. With official pricing from US $16K and broad third-party ecosystem support, G1 has become a reference compact humanoid for universities, labs, and competition teams seeking capable hardware at a manageable price and footprint.