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 | Unitree G1-Comp |
|---|---|
| Height (standing) | 1320 mm |
| Width | 450 mm |
| Thickness (standing) | 200 mm |
| Height (folded) | 690 mm |
| Thickness (folded) | 300 mm |
| Weight (with battery) | About 35 kg |
| Degrees of freedom (total) | 25 to 45 |
| Degrees of freedom per leg | 6 |
| Waist degrees of freedom | 1 (+2 optional) |
| Degrees of freedom per arm | 5 |
| Head degrees of freedom | 2 |
| Degrees of freedom per hand | 7 (+2 wrist, optional) |
| Max knee torque | 120 N·m |
| Max arm payload | About 3 kg |
| Calf + thigh length | 0.6 m |
| Arm span | About 0.45 m |
| Waist range of motion | Z ±155°, X ±45°, Y ±30° |
| Knee range of motion | 0 to 165° |
| Hip range of motion | P ±154°, R −30° to +170°, Y ±158° |
| Wrist range of motion | P ±92.5°, Y ±92.5° |
| Joint encoders | Dual encoders |
| Cooling system | Local air cooling |
| Power supply | 13S lithium battery |
| Battery capacity | 9000 mAh |
| Battery life | About 2 hours |
| Charger | 54 V / 5 A |
| Base compute unit | 8-core high-performance CPU |
| Optional compute | Orin NX (100 TOPS) |
| Sensors | Depth camera + 3D LiDAR |
| Microphone array | 4 units |
| Speaker | 5 W |
| Connectivity | WiFi 6, Bluetooth 5.2 |
| Fully internal wiring | Yes |
| Materials | Aluminum alloy and high-strength engineering plastics |
| Secondary development | Yes (RoboCup SDK) |
| OTA updates | Yes |
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