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 H1 | Unitree H1-2 |
|---|---|---|
| Height | About 180 cm | About 178 cm |
| Weight | About 47 kg | About 70 kg |
| Degrees of freedom (total) | 19 | 27 |
| Degrees of freedom per arm | 4 (expandable) | 7 |
| Degrees of freedom per leg | 5 (hip ×3 + knee ×1 + ankle ×1) | 6 |
| Peak torque density | 189 N·m/kg | 189 N·m/kg |
| Max leg joint torque | 360 N·m | 360 N·m |
| Max arm joint torque | - | 120 N·m |
| Movement speed | 3.3 m/s (potential above 5 m/s) | Under 2 m/s |
| 360° depth perception | 3D LiDAR + depth camera | 3D LiDAR + depth camera |
| 3D LiDAR | LIVOX-MID360 | 3D LiDAR |
| Depth camera | Intel RealSense D435i | Depth camera |
| Battery | 864 Wh, quick release | 15 Ah (0.864 kWh), 67.2 V, quick release |
| Fully internal wiring | Yes (no external cables) | Yes (no external cables) |
| Combined shoulder motors | Yes | Yes |
| Dimensions (H × W × D) | - | (1503 + 285) × 510 × 287 mm |
| Thigh + calf length | - | 400 mm × 2 |
| Arm length | - | 685 mm |
| Max knee torque | - | About 360 N·m |
| Max hip torque | - | About 220 N·m |
| Max waist torque | - | About 220 N·m |
| Max ankle torque | - | About 75 N·m × 2 |
| Max wrist torque | - | About 30 N·m |
| Max arm payload (peak) | - | About 21 kg |
| Max arm payload (rated) | - | About 7 kg |
| Base compute unit | - | Intel Core i5 / i7 |
| Optional compute module | - | Up to 5 additional boards inside the housing |
| Joint encoders | - | Dual encoders |
| OTA updates | Yes | Yes |
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