Unitree G1

Overview

The Unitree G1 is a commercially available humanoid robot designed to enable research and agile bipedal locomotion. It stands approximately 1.32 m tall, weighs about 35 kg, and incorporates a depth camera and 3D LiDAR for perception. G1 has demonstrated walking, dynamic balance, and object manipulation in demos and early deployments.

According to Unitree's official spec sheet, the G1 stands 132 cm tall (1320 x 450 x 200 mm standing) and weighs approximately 35 kg with battery. The standard G1 has 23 degrees of freedom: 6 per leg, 1 in the waist, and 5 per arm — no hands included. The G1 EDU variant expands to 23–43 degrees of freedom depending on configuration, adding optional wrist joints, an optional three-fingered dexterous hand (Dex3-1 with 7 DoF, optionally with tactile sensor arrays), and up to two additional waist degrees of freedom. Maximum knee joint torque is 90 N·m on the standard G1 and 120 N·m on the EDU. Arm payload is approximately 2 kg on the standard model and 3 kg on the EDU.

Both variants use low-inertia high-speed internal rotor permanent magnet synchronous motors (PMSM) with dual encoders and industrial-grade crossed roller bearings at each joint. The sensor suite includes a depth camera, 3D LiDAR, 4-microphone array, and 5W speaker. Base compute is an 8-core CPU; the EDU supports additional high-compute modules including NVIDIA Orin. Connectivity is WiFi 6 and Bluetooth 5.2. Battery is a 9,000 mAh 13-cell lithium pack rated for approximately 2 hours of runtime.

The standard G1 is priced at $13,500 excluding tax and shipping, per Unitree's official shop. The EDU variant price is available on request. The standard G1 carries an 8-month warranty and does not include secondary development access; the EDU includes secondary development access and an 18-month warranty. OTA software updates are supported on both variants.

Specifications

Sensors

Software