Humanoid robotsUnitree
Unitree R1
Compact biped humanoid, 123 cm and 29 kg, with a built-in multimodal model for voice and vision. For demos, events and education.
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| Specification | Basic | Standard | Customized |
|---|---|---|---|
| Dimensions | 118 × 47 × 23 cm | 118 × 47 × 23 cm | 118 × 47 × 23 cm |
| Leg length | 57 cm | 57 cm | 57 cm |
| Arm length | 45 cm | 45 cm | 45 cm |
| Weight | About 30 kg | About 30 kg | About 30 kg |
| Degrees of freedom (total) | 23 | 23 | 31 (with gripper) / 41 (with dexterous hand) |
| Degrees of freedom per leg | 6 | 6 | 6 |
| Waist degrees of freedom | 1 | 1 | 1 |
| Degrees of freedom per arm | 4 (expandable) | 4 (expandable) | 7 |
| Degrees of freedom per hand | - | - | 1 (gripper) / 6 (dexterous hand) |
| Head degrees of freedom | 2 | 2 | 2 |
| Waist range of motion | ±58° | ±58° | ±58° |
| Hip range of motion | P ±118°, R −21° to 88°, Y ±58° | P ±118°, R −21° to 88°, Y ±58° | P ±118°, R −21° to 88°, Y ±58° |
| Knee range of motion | 0° to 123° | 0° to 123° | 0° to 123° |
| Ankle range of motion | P −50° to 20°, R ±25° | P −50° to 20°, R ±25° | P −50° to 20°, R ±25° |
| Max peak torque | 130 N·m | 130 N·m | 130 N·m |
| Joint encoders | Dual encoders | Dual encoders | Dual encoders |
| CPU | - | Intel i7 1370p | Intel i7 1370p |
| GPU | Nvidia AGX Orin, 200 TOPS | Nvidia AGX Orin, 200 TOPS | Nvidia AGX Orin, 200 TOPS |
| Camera | Depth camera | Depth camera | Depth camera |
| IMU | 9-axis | 9-axis | 9-axis |
| Audio | Circular 6-microphone array + speaker | Circular 6-microphone array + speaker | Circular 6-microphone array + speaker |
| Battery capacity | 10.5 Ah | 10.5 Ah | 10.5 Ah |
| Battery life | 2 h (walking), 4 h (stationary) | 2 h (walking), 4 h (stationary) | 2 h (walking), 4 h (stationary) |
| Wi-Fi 6 | Yes | Yes | Yes |
| Bluetooth 5.2 | Yes | Yes | Yes |
| Expansion ports | USB, Ethernet | USB, Ethernet | USB, Ethernet |
| Firmware updates | Yes | Yes | Yes |
| Secondary development | Yes | Yes | Yes |
| Warranty | 1 year | 1 year | 1 year |
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