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 | R1 AIR | R1 | R1 EDU |
|---|---|---|---|
| Dimensions (H × W × T, standing) | 1230 × 357 × 190 mm | 1230 × 357 × 190 mm | 1230 × 357 × 190 mm |
| Weight (with battery) | About 27 kg | About 29 kg | About 29 kg |
| Degrees of freedom (total) | 20 | 26 | 26 to 40 |
| Degrees of freedom per leg | 6 | 6 | 6 |
| Degrees of freedom per arm | 4 | 5 | 5 |
| Waist degrees of freedom | / | 2 | 2 |
| Head degrees of freedom | / | 2 | 2 |
| Dexterous hand | / | / | Optional |
| Joint bearings | Crossed roller bearings, double hook ball bearings | Crossed roller bearings, double hook ball bearings | Crossed roller bearings, double hook ball bearings |
| Joint motor | Low-inertia PMSM, high-speed internal rotor | Low-inertia PMSM, high-speed internal rotor | Low-inertia PMSM, high-speed internal rotor |
| Max arm payload | About 2 kg | About 2 kg | About 2 kg |
| Calf + thigh length | 600 mm | 600 mm | 600 mm |
| Forearm + upper arm length | 420 mm | 420 mm | 420 mm |
| Knee range of motion | −10° to +139° | −10° to +139° | −10° to +139° |
| Hip range of motion | Y ±157°, P −168° to +146°, R −60° to +100° | Y ±157°, P −168° to +146°, R −60° to +100° | Y ±157°, P −168° to +146°, R −60° to +100° |
| Waist range of motion | / | Y ±150°, R ±30° | Y ±150°, R ±30° |
| Electrical routing | Hollow + internal | Hollow + internal | Hollow + internal |
| Joint encoders | Dual + single encoders | Dual + single encoders | Dual + single encoders |
| Cooling system | Local air cooling | Local air cooling | Local air cooling |
| Power supply | Lithium battery | Lithium battery | Lithium battery |
| Base compute unit | 8-core high-performance processor | 8-core high-performance processor | 8-core high-performance processor |
| Microphone array | 4 microphones | 4 microphones | 4 microphones |
| Speaker | Yes | Yes | Yes |
| WiFi 6 / Bluetooth 5.2 | Yes | Yes | Yes |
| Camera | Monocular camera | Binocular camera | Binocular camera |
| High-performance compute module | / | / | Several brands and models, e.g. Orin (40 to 100 TOPS) |
| Smart battery (quick release) | Yes | Yes | Yes |
| Charger | Yes | Yes | Yes |
| Handheld remote control | Yes | Yes | Yes |
| Battery life | About 1 hour | About 1 hour | About 1 hour |
| Smart OTA updates | Yes | Yes | Yes |
| Secondary development | / | / | Yes |
| Warranty | 24 months statutory warranty for consumers, 12 months commercial warranty for businesses | 24 months statutory warranty for consumers, 12 months commercial warranty for businesses | 24 months statutory warranty for consumers, 12 months commercial warranty for businesses |
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