Unitree G1 Humanoid Robot by Unitree Robotics

The Unitree G1 is a bipedal humanoid robot designed for R&D, education, medical, and commercial use. As of 2025, the Unitree G1 is the best-selling humanoid robot in the market with more than 1000 units shipped. At 1.32m tall and 35kg, it offers 23–43 degrees of freedom and joint torques up to 120 N·m.

The Unitree G1 uses 3D LiDAR, depth cameras, and an 8-core CPU for sensing and movement. The EDU version adds an NVIDIA Jetson Orin NX with 100 TOPS AI processing, enabling programming, reinforcement learning, and autonomous operation. The G1 has achieved world records (1.4m long jump, side flip, kip-up), 90% success rate in medical tasks, and competed in robot boxing.

Key specs include speeds over 2m/s, up to 43-DOF kinematics, proprietary actuators, dual computing, rich sensor arrays, and support for C++/Python/ROS2. The platform includes full documentation, maintenance support, warranty, and accessories.

What is the difference between the Unitree G1 Basic and Unitree G1 EDU?

Features	Unitree G1 Basic	Unitree G1 Edu Standard	Unitree G1 Edu Plus	Unitree G1 Edu Ultimate A	Unitree G1 Edu Ultimate B	Unitree G1 Edu Ultimate C	Unitree G1 Edu Ultimate D
Degrees of Freedom	23	23	29	43	43	41	41
DOF per leg	6	6	6	6	6	6	6
DOF per arm	5	5	7	7	7	7	7
DOF waist	1	1	3	3	3	3	3
Max knee torque 120 N·m		✔	✔	✔	✔	✔	✔
Max arm load 3 kg		✔	✔	✔	✔	✔	✔
Robotic Hands				3-finger hands	3-finger hands (with tactile sensors)	5-finger hands	5-finger hands (with tactile sensors)
8-core high-performance CPU	✔	✔	✔	✔	✔	✔	✔
100 TOPS AI Secondary development		✔	✔	✔	✔	✔	✔
MAP Price (USD)	$21,500	$42,435	$52,367	$64,292	$66,277	$66,277	$73,900

What is the Performance of the Unitree G1 Humanoid Robot?

The Unitree G1 offers record agility with a 1.4 m standing long jump, the first humanoid side flip, 3 kg payload per arm, and dexterity for complex maneuvers with precision from athletic moves to remote medical procedures.

Record-Breaking Achievements:

• World's first humanoid to perform standing side flips.

 

• World record: Unitree G1 jumped 1.4 meters — surpassing its 1.32m height with a distance-to-height ratio over 1.

• First kip-up in humanoid robotics: Unitree G1 rises from lying to standing in one fluid motion.

• World's First Robot Boxing Competition: Competed in "Iron Fist King: Awakening!" tournament in May 2025

Dynamic Capabilities:

• Martial Arts: Executes kung fu sequences, sweep kicks, and combat maneuvers

Key Performance Specifications:

• Maximum Joint Torque: 90 N·m (knee joint, Basic version), 120 N·m (knee joint, EDU versions)
• Payload Capacity: 2kg maximum arm load (basic version), 3kg (EDU versions)
• Standing Payload: Supports up to 12kg while maintaining standing capability, verified by the Shanghai AI Laboratory in 2025. (See the photo below).

Research and Development Examples:

In 2024, the Carnegie Mellon University and NVIDIA introduced ASAP, a framework that enables the Unitree G1 to replicate athletic movements by aligning simulation with real-world physics. With ASAP, the G1 successfully performs complex moves like Cristiano Ronaldo’s 180° jump celebration, LeBron James’s single-leg “Silencer,” and Kobe Bryant’s fadeaway jump shot.

Github: https://github.com/LeCAR-Lab/ASAP, https://agile.human2humanoid.com/

In 2025, UC San Diego researchers developed a bimanual teleoperation system for the Unitree G1 robot to perform remote-controlled medical procedures. Tested across seven tasks — ranging from physical exams to precision needlework — the system showed strong results: 90% accuracy in bag-valve mask ventilation, 70% success in ultrasound-guided injections (outperforming some untrained students), and 86.3% success in suturing.

GitHub: https://surgie-humanoid.github.io/

In April 2025, researchers from Shanghai AI Lab and CUHK introduced HOMIE, a $500 teleoperation system for humanoid robots combining foot-pedal-controlled lower-body movement with an exoskeleton for precise upper-body control. This setup lets a single operator perform complex tasks like squatting and walking while manipulating objects, reaching 80% success in pick-and-place tasks.

In 2025, Carnegie Mellon researchers introduced SoFTA, a two-agent system to keep humanoid robot hands stable while walking. A slow agent controls leg movement at 50 Hz, while a fast agent stabilizes the upper body at 100 Hz. This reduced hand acceleration by 50–80%, allowing the Unitree G1 to carry water without spilling and record smooth video while moving.

Github: https://lecar-lab.github.io/SoFTA/

Dexterous Manipulation:

• Opening glass bottles and plastic containers
• Precision soldering of electronic components
• Food preparation (flipping toast on frying pan)
• Object stacking and placement tasks
• Walnut cracking with controlled force application

What locomotion modes and limits are supported by Unitree G1?

The Unitree G1 supports multiple locomotion modes including standing, walking, and running with seamless transitions between gaits, achieves bipedal walking speeds up to 2m/s (7.2 km/h), can climb stairs and navigate slopes with variable terrain adaptability including stepping stones with 80% success rate, and features advanced recovery behaviors including dynamic balance recovery when pushed, kip-up capability from supine positions, and emergency damping modes for safety.

AI-Driven Navigation Capabilities

Out-of-the-Box Navigation (No Special Training):

The Unitree G1 can handle stairs, slopes up to 25°, uneven terrain, and basic obstacle avoidance using 3D LiDAR and depth cameras.

Limitations on Difficult Terrain:

• Slippery Surfaces: Slips on ice or glass
• Soft Ground: Struggles on sponge or soft grass
• Steps & Slopes: Fails on steps >10 cm or slopes >25°
• Stepping Stones: 0.33% success
• Balance Beams: 21.17% success
• Sparse Footholds: Standard controllers typically fail

Example: In July 2025, the G1 fell on an indoor basketball court.

  

Navigation Enhanced with BeamDojo Training:
In 2025, researchers introduced BeamDojo, a two-stage reinforcement learning system that dramatically improves performance on challenging terrains:

• Stepping stones: 80% success
• Balance beams: 96–99% success
• Sparse footholds: Precise, high-stability navigation
• Zero-shot generalization: Navigates unseen terrain like stepping beams and gaps without retraining

BeamDojo uses a two-stage training strategy and a dual-critic reward system to achieve agile, precise locomotion on the Unitree G1—even under external disturbances—with strong sim-to-real transfer success.

Recovery and Stability Behaviors:

The Unitree G1 maintains balance under external forces and can recover from falls by standing up from supine, prone, or seated positions—even while carrying up to 12 kg.

In 2025, researchers from Shanghai Jiao Tong University, The University of Hong Kong, and Zhejiang University introduced HOST, a reinforcement learning system that trains the G1 to stand up without pre-programmed motions. It was tested indoors and outdoors, reliably recovering from falls — even when disturbed or carrying weight. 

Github: https://taohuang13.github.io/humanoid-standingup.github.io/

Operational Modes on the Remote Control:

Core Operational States:

• Zero Torque Mode: Motors off, no resistance when moved
• Damping Mode: Motors off, with resistance; used for emergency stop or prepping
• Ready Mode: Prepares for motion within 5 seconds
• Motion Mode: Main control mode via remote
• Debug Mode: For low-level SDK development

Postural States:

• Squat Mode: Enters squat in 5 seconds (no balance)
• Seating Mode: Enters seated position in 5 seconds (no balance)

Locomotion States:

• Standing Mode: Stands still when idle; steps if disturbed or commanded
• Continuous Walking Mode: Keeps stepping regardless of input

What is the design, form factor and kinematics of the Unitree G1?

• Design and Build Quality: The Unitree G1's complex structure uses aerospace-grade aluminum and carbon fiber for a strong, lightweight frame. It features a brushed metal finish, internal wiring for a clean look, and a modular design for easy configuration and maintenance.

Dimensions:

• Height: 1,320 mm (4.33 ft)
• Width: 450 mm (17.7 in)
• Depth: 200 mm (7.9 in)
• Folded Size: 690 × 450 × 300 mm
• Leg Length: 600 mm (thigh + calf)
• Arm Span: ~450 mm

Weight:

• Total: 35 kg (77 lbs) with battery
• Balance: Center of gravity optimized for stability

Total Degrees of Freedom Breakdown:

G1 Basic (23 Degrees of Freedom):

• Legs: 12 DOF (6 per leg: 3 hip, 1 knee, 2 ankle)
• Waist: 1 DOF (yaw)
• Arms: 10 DOF (5 per arm: 3 shoulder, 1 elbow, 1 extra)
• Hands: Passive grippers (no active DOF)

G1 EDU (23 – 43 Degrees of Freedom):

• Waist: Up to 3 DOF (yaw, pitch, roll)
• Arms: Up to 7 DOF per arm (3 shoulder, 1 elbow, 2 wrist, 1 extra)
• Hands: Up to 7 DOF per Dex3-1 hand (3 thumb, 2 index, 2 middle fingers)

Joint Movement Range Specifications:

Waist Mobility:

• Basic: Yaw ±155°
• EDU: Yaw ±155°, Pitch ±45°, Roll ±30°

Lower Body Joint Movement Ranges:

• Hip: Pitch ±154°, Roll -30° to +170°, Yaw ±158°
• Knee: 0° to 165° (flexion only)
• Ankle: Pitch -50° to +30°, Roll ±15°

Upper Body Joint Movement Ranges:

• Shoulder Pitch: ±154°
• Shoulder Roll: Left -91° to +129°, Right -129° to +91°
• Shoulder Yaw: ±150°
• Elbow: 0° to 165°
• Wrist (EDU): Pitch ±92.5°, Yaw ±92.5°

What is the motion system of the Unitree G1?

The Unitree G1 uses proprietary low-inertia Permanent Magnet Synchronous Motor (PMSM) joint motors with maximum torque up to 120 N·m (EDU) or 90 N·m (Basic), featuring hollow shafts for reduced weight and internal wiring. Motors include low-latency response, compact planetary gearboxes, backdrivability, and thermal monitoring.

Each joint uses industrial-grade crossed roller bearings and dual encoders feeding a 500 Hz control loop with force-position control, torque limiting, and 2 ms DDS communication to simulate real-world physics accurately.. Advanced features include impedance tuning, collision detection, IMU-based balance, sub-degree accuracy, and thermal management with effective heat dissipation through local air cooling and automatic power reduction under high temperatures.

What onboard processors and compute modules are included with the Unitree G1?

All EDU versions of the Unitree G1 series include dual processors for advanced AI: an 8-core ARM CPU for motion control and an NVIDIA Jetson Orin NX delivering 100 TOPS AI performance via 1024 CUDA and 32 Tensor cores.

Details:

• Primary Unit (all versions): 8-core ARM CPU, Embedded Linux, proprietary control stack.
• EDU Secondary Unit: Orin NX (8-core ARM Cortex-A78AE @ 2.0 GHz, 1024 CUDA cores @ 918 MHz, 32 Tensor cores), 16 GB RAM, 2 TB storage.

Model breakdown:

• G1 Basic – single CPU, no AI module.
• G1 EDU (U1–U5) – dual computing with 100 TOPS AI.

AI/Graphics: Supports OpenGL 4.6, OpenCL 3.0, DirectX 12.1; CUDA, TensorRT, PyTorch, TensorFlow; Tensor cores accelerate ML inference.

 

What sensors are included with the Unitree G1?

The Unitree G1 includes advanced sensors: a LIVOX 3D LiDAR, Intel RealSense D435i depth camera, 4-microphone array, and an IMU for perception and motion tracking.

LIVOX-MID360 3D LiDAR:

• 905 nm omnidirectional laser
• 360° horizontal, 59° vertical FOV
• Real-time mapping for SLAM and obstacle detection

Intel RealSense D435i Depth Camera:

• Stereoscopic depth + RGB imaging
• 42.4° × 55.2° FOV
• 1280×720 @ 30fps or 848×480 @ 90fps
• Minimum range: 0.4 m
• Built-in IMU for motion tracking

Example: The video below shows a Unitree G1 using an Intel RealSense D435i and Moondream 2 vision-language model for natural-language object detection, depth-based position estimation, and experimental arm planning.

 

Sensor Fusion:

• Combined LiDAR and depth camera coverage
• Real-time processing via 8-core CPU and optional 100 TOPS AI unit
• Synchronized data capture for consistent modeling
• Redundant sensing for reliability

Microphones:

• 4-mic array with noise and echo cancellation
• Supports voice commands and interaction

Speakers:

• 5W stereo output for voice feedback and alerts

 

Motion and Orientation Sensing:

• Integrated IMU with accelerometers and gyroscopes
• Dual encoders per joint
• 500 Hz control loop providing sensitive and reliable feedback for balance, fall detection, and motion planning

What communication interfaces and I/O are available (Ethernet/Wi‑Fi/Bluetooth/USB/CAN, digital I/O) on the Unitree G1?

The Unitree G1 includes dual Gigabit Ethernet, Wi‑Fi 6, Bluetooth 5.2, USB 3.0/3.2 Type-C ports, GPIO with UART/I2C/SPI support, and optional CAN via GPIO configuration. All interfaces are accessible from the back of the robot’s neck.

Wired Communication

Dual Gigabit Ethernet:

• Two RJ45 ports (1000 BASE-T)
• Control Network: 192.168.123.161 (robot controller)
• Dev Network: 192.168.123.164 (Jetson Orin NX)
• Isolated subnets for parallel use

USB Interfaces

• Three USB 3.0 Type-C Ports:
• 5V/1.5A power output
• One USB 3.2 Type-C with DisplayPort Alt Mode:
• Supports USB 3.2 + DP 1.4
• For peripherals and external displays

Power and I/O Interfaces:

• Battery Access: XT30UPB-F connector
• Regulated Outputs:
• 24V/5A and 12V/5A via XT30UPB-F
• 12V/3A via 5577 connector

GPIO (6 Pins, 3.3V Logic):

• UART1 (TX/RX): GPIO1–2
• I2C2 (SCL/SDA): GPIO3–4
• Digital I/O: GPIO5–6
• Multiplexing: Pins support UART, I2C, GPIO, SPI

Industrial Protocols (via GPIO):

• CAN Bus: Accessible through GPIO
• UART / I2C / SPI: Supported via pin multiplexing

Wireless Communication:

• Wi-Fi 6 (802.11ax): Fast, low-latency wireless
• Bluetooth 5.2: Long-range and high-throughput
• Dual Mode: Wi-Fi and Bluetooth can run simultaneously
• Mesh Support: For extended coverage

What physical controls and indicators are available on the Unitree G1?

The Unitree G1 includes a handheld remote with joysticks, buttons, status LEDs, and the robot itself features head-mounted LED indicators and audio feedback through built-in speakers.

Remote Control – Physical Controls

• Power Button: Short press + 2s hold to power on (with beep)
• Dual Joysticks: Removable left/right analog sticks
• Shoulder Buttons: L1/L2 and R1/R2 for mode switching
• Action Buttons: A, B, X, Y for command input
• D-Pad: For precise directional control
• Function Keys: F1 and F3 for config and calibration
• SELECT / START: For navigation and switching modes

Remote Control – Indicators

• DL (Data Link): Confirms connection to G1
• Bluetooth Indicator: Shows wireless status
• Power Status: Indicates controller power
• Charging Light: Shows USB-C charging progress

Robot Head – Indicators

• LED Lights: Blue LEDs signal system power-on
• Audio Feedback: 5W speakers provide operational sounds and status alerts

What are the battery specifications of the Unitree G1?

The Unitree G1 uses a 9,000 mAh lithium-ion battery with a 13S configuration, supporting around 2 hours of continuous operation. It features a quick-release, side-mounted design for easy, tool-free swapping.

Key Technical Specifications:

• Capacity: 9,000 mAh
• Architecture: 13-series (13S) lithium pack
• Dimensions: 120 × 80 × 182 mm
• Integrated Weight: Part of the G1's 35 kg total
• Mounting: Click-lock system with rear-facing power switch

Battery Runtime: Approx. 2 hours, depending on:

• Movement speed/intensity
• AI load
• Environment
• Payload
• Sensor usage

Additional Features:

• Hot-swappable in development use
• Low battery protection with automatic warnings
• Storage mode to reduce long-term degradation

What is the operating voltage and power input range on the Unitree G1's power supply?

The Unitree G1 operates on 54 V DC, powered by a charger with a 100–240 V AC input.

• Charger Output: 54 V DC, 5 A, 270 W (CC/CV protocol)
• Protections: Overvoltage, overcurrent, short circuit, thermal, and reverse polarity
• Operating Temp: 0°C to +40°C; Storage: –20°C to +60°C
• Certifications: UL, CE, FCC; >90% efficiency
• Connections: IEC C13 input, proprietary DC output, 1.8 m AC & 1.2 m DC cables

What development tools, programming interfaces, simulation environments, and dataset management does the Unitree G1 support?

The Unitree G1 supports cutting-edge robotics development with SDK2 (C++/Python, 2ms control), ROS2, simulation tools (MuJoCo, Isaac Gym, Gazebo), AI frameworks (PyTorch, TensorFlow), dataset collection tools, and deployment on Jetson Orin NX with Ubuntu and cloud connectivity.

Full Documentation: https://github.com/unitreerobotics, https://support.unitree.com/home/en/G1_developer

Programming Interfaces:

• SDKs: Unitree SDK2 (C++) and Python wrapper with 2 ms control loop
• Documentation: https://github.com/unitreerobotics/unitree_sdk2, https://support.unitree.com/home/en/G1_developer
• ROS2: Fully supported
• Documentation: https://github.com/unitreerobotics/unitree_ros2
• Protocols: DDS, TCP/UDP, RESTful APIs
• Documentation: https://support.unitree.com/home/en/developer/DDS_services
• Languages: C++, Python 3.10+, CUDA

Example: The video below shows a Unitree G1 being configured with Unitree SDK2 and then running low-level ankle-swing and high-level locomotion demos — covering safe startup (damp → balanced stand → continuous gait), a lightweight Python wrapper, and hands-on dev practices.

 

Example: The next video below shows a Unitree G1 using KISS-ICP SLAM for LiDAR mapping, real-time point cloud and occupancy grid visualization, route planning, and teleop control.

 

Development Platform

Hardware Platform:

• Hardware: Jetson Orin NX (8-core CPU, 100 TOPS GPU, 16GB RAM, 2TB storage)
• OS: Ubuntu Linux
• Access: SSH (unitree@192.168.123.164), USB 3.0/3.2, GPIO (UART, I2C, DIO), Wi-Fi 6, Bluetooth 5.2, dual Ethernet

AI & Dataset Tools

Training and Data Collection:

• Frameworks: PyTorch, TensorFlow, CUDA, OpenCV
• Data Logging: Sensor fusion (LiDAR, depth, IMU, encoders), motion capture, teleoperation recording
• Multi-Modal Datasets: Syncs visual, audio, and proprioceptive data
• Documentation: https://github.com/unitreerobotics/unitree_IL_lerobot, https://huggingface.co/unitreerobotics
• UnifoLM (Unified Large Model): Unitree invites collaboration on UnifoLM, a unified robot world model set designed to advance intelligent robotics. The platform supports joint development and improves autonomy and human-robot collaboration in real-world use.
   
• Documentation: https://www.unifolm.com/

Example: The video shows a Unitree G1 teleoperated to collect labeled arm and hand movement data, train a lightweight Cartesian-like control model, and test it in simulation and on hardware.

 

Simulation Support

Simulators:

• MuJoCo (official)
• Isaac Gym / Isaac Lab
• ROS2 Gazebo
• Documentation: https://github.com/unitreerobotics/unitree_rl_gym

Isaac Gym	Mujoco	Physical

Features:

• Sim-to-real transfer
• Procedural terrain
• Parallel training
• Physics-accurate joint and sensor models

Use Cases:

• Locomotion, manipulation, navigation, HRI
• Integration with research frameworks: BeamDojo, SoFTA, HOMIE, SHIELD

In August 2025, Caltech, UT Austin, and Cornell introduced SHIELD, a safety framework for human robot collaboration. SHIELD learns the gap between a simplified model and real behavior, then uses this to predict disturbances and apply a probabilistic safety filter over high-level commands — without modifying the original controller. Tested on a Unitree G1, SHIELD improved velocity tracking and allowed the robot to maintain a safe distance while navigating around static obstacles and people in unstructured outdoor environments using only onboard sensors.

Learn more: https://arxiv.org/abs/2505.11494

 

Integration & Deployment

Workflow: Git, Docker, OTA updates, real-time telemetry

Deployment:

• Onboard inference
• Cloud-compatible (AWS, Azure, GCP)
• REST API gateway
• Fleet management tools

Example: The video below shows a Unitree G1 using a PPO-trained reinforcement learning arm-control policy from simulation to real deployment for directional hand positioning.

 

Which security and safety features are built in on the Unitree G1?

The Unitree G1 includes built-in safety features such as emergency stop controls, hardware torque limiting, joint limit protection, collision detection, battery management safeguards, thermal shutdown, and communication loss failsafes.

Emergency Stop Systems

• L1 + A button: Triggers immediate damping mode
• Manual battery override: Forces shutdown if remote fails
• Auto motor shutdown: Engaged on unsafe conditions

Motor & Joint Protection

• Torque limiting: Prevents overexertion
• Joint limit enforcement: Hardware stops to avoid damage
• Collision detection: Real-time force monitoring triggers protective responses

Battery Safety

• BMS protections: Overcharge, overdischarge, and short circuit
• Thermal monitoring: Prevents overheating and fire risk

System-Level Safeguards

• Signal timeout: Enters safe mode if control lost
• 500 Hz safety loop: Continuous hazard checks
• Thermal shutdown: Reduces power under high temperatures

What comes included in the box with Unitree G1?

Core Components:

• 1x G1 Humanoid Robot (folded for transport)
• 1x 9,000mAh Smart Battery with BMS and quick-release
• 1x 54V 5A Charger (100–240VAC, 50/60Hz)
• 1x Wireless Remote Control (digital + Bluetooth)

Docs & Cables:

• 1x User Manual
• 1x USB3 Data Cable
• 1x AC Power Cord

Protection:

• Transport Box with foam inserts

Note: G1 EDU includes a protective gantry; G1 Basic does not.

What upgrades and accessories are available for the Unitree G1?

The Unitree G1 supports upgrades in six areas: core enhancements (3-DOF waist, 2-DOF wrists), dexterous hands (3- and 5-finger options), sensors (LIVOX LiDAR, Intel RealSense), development gear (gantry frames), power accessories (batteries, chargers), and replacement parts, priced from $120 to $10,500.

Core System Upgrades:

Upgrade Name	Function	MAP Price USD
G1 3 DOF Waist	Expands waist articulation from 1 to 3 degrees of freedom (Z±155°, X±45°, Y±30°), enabling advanced torso manipulation	$5,850
G1 2 DOF Wrist	Adds 2 additional wrist degrees of freedom for enhanced flexibility. Order two modules for both hands.	$2,925

  Dexterous Hand Systems:

Upgrade Name	Function	MAP Price USD
G1 Dex3-1 Force-controlled 3-finger dexterous hand (tactile version)	7 DOF hand with 3-finger force control, tactile sensor arrays, and precise manipulation capabilities	$7,800
G1 Dex3-1 Force Control Three Finger Dexterity Hand	7 DOF hand with 3-finger force control without tactile sensors	$6,500
G1 Third-party dexterity (one-handed)	6 DOF Inspire RH56 series five-finger dexterous hand with 12 joints	$10,500

  Sensor and Perception Parts:

Upgrade Name	Function	MAP Price USD
G1 MID360 LiDAR	LIVOX-MID360 omnidirectional 3D LiDAR with 360° horizontal coverage and customized mounting	$3,800
G1 Depth Camera	Intel RealSense D435i depth camera with customized mounting bracket and cables	$1,200

  Development and Safety Equipment:

Upgrade Name	Function	MAP Price USD
G1 Gantry	Universal protective suspension frame for safe development and testing operations	$1,850

  Power and Control Accessories:

Upgrade Name	Function	MAP Price USD
G1 Battery	9,000mAh quick-release battery pack with integrated BMS and multiple protection systems	$750
G1 Battery Charger	54V 5A charger with 100-240VAC universal input compatibility	$120
G1 Two-handed Remote Control	Wireless controller with digital transmission, Bluetooth connectivity, and 100m+ range	$370

  Replacement Motors and Components:

Upgrade Name	Function	MAP Price USD
G1 Third-party thumbs motor LASF10-024D	Inspire LASF10-024D thumb motor with 150N thrust and integrated force feedback	$419
G1 Third-party four-finger motor LAF10-024D	Inspire LAF10-024D finger motor with 70N thrust and precision positioning	$399

G1 3 DOF Waist Module

The torso articulation module adds pitch (±45°) and roll (±30°) to the standard 1-DOF waist (yaw ±155°,). Built with high-strength materials and a planetary gearbox for greater torso flexibility and workspace.

Standard configuration:

Upgraded configuration:

 

G1 2 DOF Wrist Module

Dual-Axis wrist module upgrades wrist to two axes for improved mobility. Industrial-grade design with high power output. Customizable flange supports different dexterous hands.

G1 Dex3-1 Tactile Hand (Tactile-Enabled 3-Finger System)

The Dex3-1 three-fingered dexterous hand features 7 degrees of freedom — 6 direct-drive and 1 gear-driven micro brushless joints — with 33 integrated tactile sensors for precision manipulation.

Key Specs:

• Weight: 710g
• Size: 175×88×77mm
• Active Degrees of Freedom: Thumb (3), Index (2), Middle (2)
• Joint Range: Up to 100° per finger
• Repeatability: ±2mm
• Voltage: 12–58V, Max Current: 10A
• Comm: USB 2.0, 1000Hz
• Load Capacity: 500g, 400W @ 3s
• Sensor Array: 33 total, 10g–2500g range
• Environment: -20°C to 60°C

Feedback & Control:
Supports real-time feedback on position, torque, velocity, temperature, and pressure; controllable stiffness and damping.

G1 Dex3-1 Standard Hand (Force-Controlled 3-Finger System)

Same 7-DOF design as tactile version but without sensors. Uses force-position hybrid control for delicate operations where tactile sensing isn’t needed.

G1 Inspire RH56 Five-Finger Dexterous Hand

The Inspire RH56 series offers high-precision five-finger dexterity similar to a human hand with 6 DOF and 12 joints per hand. Both DFX and BFX models weigh 540g, use RS485 control, and run at DC24V±10% with 0.2A quiescent and 2A peak current. Repeatability is ±0.20mm with 0.5N force resolution.

• RH56DFX: 15N thumb grip, 10N palm grip; thumb rotates >65° at 107°/s, bends at 70°/s; palm fingers bend at 260°/s. DFX emphasizes grip strength. 
• RH56BFX: 6N thumb grip, 4N palm grip; thumb rotates >65° at 235°/s, bends at 150°/s; palm fingers bend at 570°/s. BFX prioritizes speed.

 

G1 Gantry Protective Suspension Frame

Supports safe testing and debugging for the 35kg G1 robot. Adjustable positioning. Standard with G1 EDU models; sold separately for additional setups.

G1 MID360 LiDAR 360° 3D Scanning System

LIVOX MID360 with 360° horizontal and -7° to +52° vertical coverage. Uses 905nm laser for SLAM and mapping. Runs on DC 9–27V. Includes mounting hardware, metal stand, and support.

G1 Intel RealSense D435i RGB-D Depth Camera

Provides depth with 42.4° x 55.2° FOV. Supports 1280×720 @ 30fps and 848×480 @ 90fps. 0.4m min detection distance. Built-in IMU and includes mounting and cables.

G1 Battery 9,000mAh Lithium-Ion Pack

With Unitree BMS, it offers quick-release design and ~2 hours runtime. BMS includes overcharge, discharge, short-circuit protection, and self-discharge for storage.

G1 54V 5A Battery Charger

AC input: 100–240V, 50/60Hz. 350VA max. Includes safety features and status indicators. Designed for G1’s 13-string lithium battery.

G1 Two-handed Remote Control

2.4GHz with digital and Bluetooth modes. Features dual joysticks, standard buttons, emergency stop (L1+A), and 100m+ range. 4.5-hour battery life.

G1 Thumb Motor (Inspire LASF10-024D)

Provides 150N thrust over 10mm stroke. ±0.02mm repeatability and integrated force feedback. For thumb control in dexterous hands. Repair-only part.

G1 Four-Finger Motor (Inspire LAF10-024D)

Delivers 70N thrust over 10mm stroke. ±0.02mm precision with force feedback. For four-finger dexterous hands. Repair-only part.

What maintenance is required for the Unitree G1?

The Unitree G1 requires regular maintenance: check batteries before use with official chargers, operate in clean, dry conditions between 0 °C–40 °C, perform joint calibration and firmware updates, and use only authentic Unitree parts for repairs.

Battery Maintenance:

• Check charge level before each use
• Only use official chargers
• Monitor temperature during charge/use
• Store at 0°C to 40°C
• Stop use if swollen, damaged, or overheating
• Dispose of damaged/end-of-life batteries properly

Operating Conditions:

• Use only in 0°C to 40°C environments
• Avoid dust, sand, water, and humidity
• Remove any debris or liquid immediately
• Ensure the robot is fully dry before operation or storage

System Maintenance:

• Calibrate joints via Unitree Explore App as needed
• Use OTA updates for firmware
• Only use authentic Unitree parts for repairs

 

What is the warranty of the Unitree G1?

Warranty Duration:

• G1 Basic: 8 months from delivery
• G1 EDU Series (all variants): 18 months from delivery
• Start Date: Begins on the date you receive the unit

Warranty Coverage:

• Manufacturing Defects: All faults due to original design or production
• Component Replacement: Free functional replacements for faulty parts
• Repair Services: No-cost repairs if within warranty scope
• Replacement Parts: Inherit the warranty duration of the original device
• Authorized Service: Only by Unitree Robotics – third-party repairs are not covered

Major Warranty Exclusions:

• User Damage: Falls, impacts, squeezing, water, rough handling
• Environmental Hazards: Rain, sand, electromagnetic interference, wetlands, etc.
• Unauthorized Modifications: Disassembly, shell opening, third-party components
• Installation Errors: Mistakes during setup or usage against manual instructions
• Third-Party Compatibility Issues
• Normal Wear: Including natural battery degradation
• Payload Overloading: Exceeding 2–3kg depending on model
• Slippery Surface Operation: Ice, glass, etc.
• Developer Mode Risks: Damage from custom programming

Warranty Claim Requirements:

• Proof of Purchase: From an authorized dealer
• Complete Product: Includes original packaging, manuals, accessories
• Prompt Contact: Email support@unitree.cc within warranty period
• Data Responsibility: Back up all personal data in advance
• Shipping: Customer pays to send; Unitree covers return for valid claims

Terms: https://www.unitree.com/terms

What support is offered with the Unitree G1?

Unitree G1 support includes mobile diagnostics, learning resources, development tools, warranty services, and OTA updates.

Technical Support:

• Direct assistance via support@unitree.cc
• Manuals available in English and Chinese

Mobile App (Unitree Explore):

• Diagnostics, data monitoring
• Calibration and motor tuning
• Network setup and remote control management
• Download here: https://www.unitree.com/app/g1/

Does the Unitree G1 Humanoid Robot contain any covered telecommunications equipment or services as prohibited under FAR 52.204-25?

The Unitree G1 humanoid robots and batteries comply with FAR 52.204-25, containing no covered telecommunications equipment or services. Based on the manufacturer’s 2025 certification and a full supply chain review, no components involve prohibited entities (Huawei, ZTE, Hytera, Hikvision, Dahua) or their affiliates. Compliance is maintained across the entire product lifecycle, ensuring suitability for government procurement under Section 889 of the NDAA.

How much does the Unitree G1 cost?

The Unitree G1 robot’s MAP pricing varies by configuration:

• Base Model: G1 Basic – $21,500, designed for home use with remote control only.

Educational/Development Unitree Robots (w/ AI-Powered Computing):

• EDU Standard (U1): $42,435, 100 TOPS, 23 DOF, programmable.
• EDU Plus (U2): $52,367, enhanced waist (3 DOF), 7 DOF arms, 29 total DOF.
• EDU Ultimate A (U3): $64,292, Dex3-1 three-finger hands, 43 DOF.
• EDU Ultimate B (U4): $66,277, same hands with tactile sensors, 43 DOF.
• EDU Ultimate C (U5): $66,277, Inspire five-finger hands, 41 DOF.
• EDU Ultimate D (U5-1): $73,900, top-tier capabilities.