Unitree H1 Humanoid Robot (w/ AI)

The Unitree H1 is a 180 cm, 47 kg full-size universal humanoid robot with 19 degrees of freedom, dual arms, and bipedal locomotion powered by M107 motors (360 N·m peak torque). It uses MID-360 LiDAR, an Intel RealSense depth camera, and a dual-computer system separating motion control from user development, supporting SDK programming in C++, Python, and ROS2.

It holds the Guinness record for fastest full-sized humanoid (3.3 m/s) and is the first electric humanoid to land a standing backflip. The H1 offers a full development ecosystem—simulation (MuJoCo, Isaac Lab), teleoperation (XR, Azure Kinect), reinforcement learning, and Sim2Real workflows—backed by documentation and open-source integration. The Unitree H1 humanoid robots are used at Geely, Stanford University, and the University of Texas Health Science Center at Houston.

 

What is the Performance of the Unitree H1 Humanoid Robot?

The Unitree H1 V3.0 Evolution holds the Guinness record for fastest full-sized humanoid, reaching 3.3 m/s (7.38 mph) in March 2024—32% faster than the previous record. At this pace, it could complete a marathon in 3.5 hours. It’s also the first electric humanoid to perform a standing backflip, powered by M107 electric motors with 360 N·m ultimate torque.

Key specs:

• Max joint torque: 360 N·m (knee), 220 N·m (hip), 45 N·m (ankle)
• Torque density: 189 N·m/kg
• Speed: 3.3 m/s confirmed, potential 5 m/s+
• Full-body payload: 30 kg
• Balance recovery: real-time disturbance compensation

 

Commercial Examples:

In 2023, Zhejiang Geely used the H1 for automotive assembly tests. The H1 by UnitreeRobotics autonomously grasped wheel cover parts, adjusted posture in real time, and installed them while navigating a moving conveyor.

 

In 2025, sixteen Unitree H1s performed a fully AI-driven dance at the CCTV Spring Festival Gala for over a billion viewers. The Unitree H1 was chosen for its superior power performance capabilities and advanced powertrain technologies.

 

Research Examples:

In Dec 2024, UC San Diego, MIT, and NVIDIA researchers published Mobile-TeleVision: Predictive Motion Priors for Humanoid Whole-Body Control, led by Chenhao Lu. The method decouples upper-body manipulation from lower-body locomotion, using Predictive Motion Priors (via Conditional Variational Autoencoders) to guide a reinforcement learning lower-body controller. This enables precise manipulation and stable walking, outperforming existing RL methods by ~40% in manipulation accuracy while maintaining locomotion stability. Tested on Unitree H1 robots, the system handled complex tasks like carrying objects, using elevators, and teleoperating with stable walking under disturbances. GitHub: https://mobile-tv.github.io/

 

In 2024, researchers from Shanghai Qi Zhi Institute, ShanghaiTech University, and Tsinghua University published Humanoid Parkour Learning at CoRL 2024, led by Ziwen Zhuang. They developed an end-to-end vision-based whole-body-control policy for humanoid parkour without motion priors. A single policy enabled 0.42 m platform jumps, 0.8 m gap leaps, 1.8 m/s outdoor running, and autonomous navigation over varied terrains. Using fractal noise terrain instead of complex reward engineering, they trained locomotion skills via a two-stage pipeline: planar walking with turns, then parkour over 10 terrain types with auto-curriculum and virtual obstacles. The method achieved zero-shot sim-to-real transfer on the Unitree H1 using only onboard proprioception and depth cameras. Arm overrides during parkour did not affect stability, allowing potential integration with manipulation tasks. Github: https://humanoid4parkour.github.io/

 

What locomotion modes and limits are supported by Unitree H1 Robot?

The Unitree H1 is a bipedal humanoid robot built for advanced mobility tasks. The H1's remote control supports 8 locomotion modes:

• Zero Torque: Motors off, free joint movement.
• Damping: Motors off with resistance, used for soft emergency stops.
• Ready: Prepares stance in 5 s for Motion Mode.
• Motion: Full walking, turning, and dynamic movement control.
• Seating: Sits within 5 seconds.
• Standing: Holds balance when idle; steps to recover if disturbed.
• Dance: The robot starts dancing.
• Debug: Stops motion control for SDK programming.

Recovery & protection: Active balance recovery via stepping and posture adjustment. Falls trigger self-protection braking to prevent damage.

Step & terrain limits:

• Needs surfaces with good friction; avoid ice, thick spongy ground, and use reduced speed on smooth surfaces like glass or tile.
• Best in open, flat spaces; reduce speed on slopes or uneven ground.
• Maintain 2 m clearance from obstacles, complex terrain, crowds, and water.

 

What is the design, form factor and kinematics of the Unitree H1?

The Unitree H1 is a humanoid robot built from aviation-grade aluminum alloys (6061-T6, 7075-T6) and carbon fiber for a lightweight yet strong structure. It stands 180 cm tall, weighs ~47 kg, and features an upright bipedal stance with human-like articulated arms. The head houses MID-360 LiDAR and an Intel RealSense D435i depth camera.

Dimensions: 1805 mm height; 570 mm width; 220 mm thickness. Thigh: 400 mm, Calf: 400 mm, Arm: 338 mm.

Degrees of Freedom (DOF):

• Lower body: 10 DOF (5 per leg: hip yaw, hip roll, hip pitch, knee, ankle)
• Upper body: 8 DOF (4 per arm: shoulder pitch, shoulder roll, shoulder yaw, elbow)
• Torso: 1 DOF (waist rotation)
  Total: 19 DOF.

Arm Joint Range Limits

Side	Joint Name	Min (rad)	Max (rad)	Min (°)	Max (°)
R	shoulder_pitch_joint	-2.87	2.87	-164.44	164.44
L	shoulder_pitch_joint	-2.87	2.87	-164.44	164.44
R	shoulder_roll_joint	-3.11	0.34	-178.19	19.48
L	shoulder_roll_joint	-0.34	3.11	-19.48	178.19
R	shoulder_yaw_joint	-4.45	1.3	-254.97	74.48
L	shoulder_yaw_joint	-1.3	4.45	-74.48	254.97
R	elbow_joint	-1.25	2.61	-71.62	149.54
L	elbow_joint	-1.25	2.61	-71.62	149.54

Leg Joint Range Limits

Side	Joint Name	Min (rad)	Max (rad)	Min (°)	Max (°)
R	hip_yaw_joint	-0.43	0.43	-24.64	24.64
L	hip_yaw_joint	-0.43	0.43	-24.64	24.64
R	hip_roll_joint	-0.43	0.43	-24.64	24.64
L	hip_roll_joint	-0.43	0.43	-24.64	24.64
R	hip_pitch_joint	-3.14	2.53	-179.91	144.96
L	hip_pitch_joint	-3.14	2.53	-179.91	144.96
R	knee_joint	-0.26	2.05	-14.9	117.46
L	knee_joint	-0.26	2.05	-14.9	117.46
R	ankle_joint	-0.87	0.52	-49.85	29.79
L	ankle_joint	-0.87	0.52	-49.85	29.79

Torso Joint Range Limits

Joint Name	Min (rad)	Max (rad)	Min (°)	Max (°)
torso_joint	-2.35	2.35	-134.65	134.65

What is the motion system of the Unitree H1?

The H1 uses Unitree’s M107 joint motor system, a major advance in humanoid robotics. Each motor delivers up to 360 N·m torque (knee), 220 N·m (hip), and 45 N·m (ankle), with a torque-to-weight ratio of 189 N·m/kg and a compact 107 × 74 mm design. A 3.5 cm force arm can generate forces up to 10,000 N.

Product	M107	T-1	T-2
Maximum Torque / Pulling Force (3.5 cm arm equivalent)	360 N·m	10000 N	180 N·m
Weight	1.9 kg	2.26 kg	2.2 kg
Torque or Tension-to-Weight Ratio	189	5263	79
Hollow Shaft	Yes	Yes	–
Dual Encoder	Yes	Yes	Yes
Dimensions (mm)	107 × 74	100 × 130	60 × 180

The M107 employs low-inertia, high-speed internal rotor PMSM technology for rapid response, precise control, and effective heat dissipation. Features include a hollow shaft for cable routing, dual encoders for position and velocity accuracy, and industrial-grade crossed roller bearings for smooth, precise, and high-load joint operation.

 

What onboard processors and compute modules are included with the Unitree H1?

The Unitree H1 uses separate computers for motion control and development:

• PC1 (Motion Control) – Handles real-time motor control, balance, locomotion, safety monitoring, and hardware emergency responses.
• PC2/PC3 (Development) – Runs user applications, computer vision, SLAM, navigation, high-level planning, and ROS2/SDK integration.

PC1 – Motion Control (non-user accessible):

• Intel i5-1235U, 10 cores / 12 threads, 4.40 GHz turbo
• 8 GB LPDDR5, 500 GB+ storage
• No GPU, 64-bit, Intel Deep Learning Boost & Adaptix

PC2 – Development Unit:

• Intel i7-1255U (4.70 GHz) or i7-1265U (4.80 GHz), 10 cores / 12 threads
• 16 GB or 32 GB LPDDR5, 500 GB+ storage
• Intel Iris Xe GPU (1.20 GHz), OpenGL 4.6, OpenCL 3.0, DirectX 12.1
• AI acceleration via Intel DL Boost & Neural Accelerator 3.0

Optional expansions:

• PC3: Same as PC2 for extra development compute
• NVIDIA Jetson Orin NX: 100 TOPS each, up to 2 units (H1)
• NVIDIA AGX: 275 TOPS or 550 TOPS external modules for max AI performance, up to 1 unit

Max configuration: Base system with dual Intel CPUs (20 cores, 24 threads) plus optional PC3 (10 cores, 12 threads). Supports up to 2 Jetson Orin NX modules (200 TOPS total) and 1 AGX module (275–550 TOPS), for a total of 30 cores, 36 threads, 72 GB RAM, and up to 750 TOPS AI performance.

 

What sensors are included with the Unitree H1?

The Unitree H1’s sensor suite centers on head-mounted LiDAR and depth vision, supported by IMU data and microphone-based audio I/O. 

LiDAR:

• Livox MID-360 3D LiDAR, 360° coverage, real-time panoramic scanning
• High-precision point clouds for SLAM/navigation
• IP: 192.168.123.120

The example below uses the rviz2 tool to visualize the point cloud seen by the Unitree H1's Lidar.

Depth Camera:

• Intel RealSense D435i RGB-D camera
• Depth mapping, RGB imaging, infrared sensing
• Supports ROS2, continuous depth streaming for obstacle detection and visual SLAM

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—showcasing perception workflows relevant to the H1’s depth-camera systems.

 

Sensor fusion:

• LiDAR + RGB-D for 360° depth sensing and environmental perception
• Combines point clouds with visual data for mapping and navigation

Inertial Measurement Unit (IMU):

• Outputs orientation, angular velocity, linear acceleration
• Integrated into ROS2 for motion control, stability, and localization

Network architecture:

• All sensors run on 192.168.123.x subnet for distributed real-time processing
• Dedicated drivers for LiDAR, depth camera, and laser scan conversion

Microphones:

• Audio input/output supported

What communication interfaces and I/O are available on the Unitree H1?

The H1 provides wired, wireless, and power-integrated I/O, including Ethernet, Wi-Fi, Bluetooth, USB, serial protocols, CAN bus, and digital I/O for communication and device integration.

Interface	Details
Ethernet	Dedicated 192.168.123.x subnet; ports on right-side panel. Devices: MCU (.161), Dev PC2 (.162), Optional PC3 (.163), MID-360 LiDAR (.120). Features: 12V-output Ethernet ports, EtherCAT for real-time comms, special adapter cable required.
DDS Protocol	Middleware: CycloneDDS; domain-based with configurable IDs; microsecond-level motor control loops; multi-computer coordination.
USB	PC1: USB2.0 (peripherals), USB3.0 (high-speed); PC2: USB3.0 (development). USB3 cable included.
Serial	RS485: Multiple 3.3V, 5V, 12V, 24V power-integrated lines across PC1/PC2 and battery-motor systems. RS232: PC1/PC2 for legacy devices.
CAN Bus	Battery-output CAN interface for automotive/industrial networks.
Wireless	Bluetooth: Built-in, 2.4GHz, remote control, mobile app integration. Wi-Fi: Via development units, supports bridging, remote monitoring, hotspot mode.
Digital I/O & Power	12V/4A Ethernet-integrated outputs for high-power peripherals; voltage outputs: 3.3V, 5V, 12V, 24V; battery input/output for power management.

What physical controls are available on the Unitree H1?

The Unitree H1’s wireless remote uses 2.4 GHz + Bluetooth dual-mode, works over 100 m, runs 4.5 h per charge, and charges via USB (5V/2A). It’s a two-handed ergonomic controller for full teleoperation.

Below is a table for key control combinations.

Mode	Button	Description
General	L1 + A	Enter Damping Mode
General	L2 + R2	Enter Debug Mode
Damping Mode	L1 + UP	Enter Ready Mode
Damping Mode	L1 + B	Enter Zero Torque Mode
Motion Mode	R2 + X	Enter Motion Mode
Motion Mode	Left Joystick	Translational velocity command ($v_x, v_y$)
Motion Mode	Right Joystick	Yaw angular velocity command ($\omega_{yaw}$)
Motion Mode	X	Decrease standing height
Motion Mode	Y	Increase standing height
Motion Mode	A	Decrease leg lifting height
Motion Mode	B	Increase leg lifting height
Motion Mode	START	Adjust posture, take a few steps in place, then stop
Motion Mode	L2 + Y	Enter Dance Mode and return to Motion Mode
Motion Mode	Double Click UP	Handshake
Motion Mode	Double Click DOWN	Wave Hand
Debug Mode	L2 + A	Perform position control for diagnostics
Debug Mode	L2 + B	Stop diagnostics, enter Damping State

What are the battery specifications of the Unitree H1?

The Unitree H1 is equipped with two batteries with a total battery capacity 864 Wh. Each pack holds 15,000 mAh (432 Wh) at 28.8 V DC. 

• Max system voltage: 67.2 V (both fully charged)
• Per-pack max charge voltage: 33.6 V DC
• Both batteries are required for full operation
• Batteries are quickly replaceable to increase operational endurance

Each Unitree H1 battery pack measures 120 × 80 × 182 mm and mounts in side compartments under the left arm.

• Mounting: Quick-release with audible click; power switch must face forward
• Hot-swappable: No tools required
• Dual-pack requirement: Both batteries must be installed and working
• Controls: Each pack has its own power button for synchronized on/off

The Unitree H1 runs about 2 hours in mixed-use operation. Runtime varies with:

• High-intensity movement: Fast walking, frequent posture changes
• Terrain complexity: Uneven or low-friction surfaces needing more balance correction
• Payloads: Carrying weight or doing manipulation tasks
• Postural control: Frequent standing adjustments and stability recovery

Battery indicators:

• Charging: LEDs flash at 1 Hz showing charge level
• Full: LEDs turn off
• Critical: Last cell LED flashes for urgent recharge
• Operation: Real-time power level display

Temperature note:
Batteries must cool to room temperature before charging after heavy use to prevent thermal damage and maintain cycle life.

The Unitree H1’s Battery Management System ensures safety with overcharge, over-discharge, short-circuit protection, balanced charging, and temperature monitoring. It offers LED power display, self-discharge control, and automatic power tracking. Certified to IS 16046 (Part 2) / IEC 62133-2 lithium battery standards.

What is the operating voltage and power input range of the Unitree H1?

The Unitree H1 charger supports 100–240V AC, 50/60Hz, for global use.

• Max input current: 4A
• Rated capacity: 350VA
• Must confirm voltage compatibility before use—incorrect voltage can permanently damage the charger.

The Unitree H1 fast charger outputs 33.6V DC at 9.0A (302.4W).

• Max voltage: 33.6V DC
• Max current: 9.0A
• Continuous power: 302.4W
• Size: 210 × 108 × 48.2 mm
• Charging time: 1.5-2 hours

What development tools, programming interfaces, simulation environments, and dataset management does the Unitree H1 support?

The Unitree H1 is a unified platform for programming, simulation, training, and deployment, ensuring code compatibility between simulated and real environments.

Documentation: https://github.com/unitreerobotics, https://support.unitree.com/home/en/H1_developer

Core Programming Interfaces

• Unitree SDK2: Available in C++ and Python, offering high- and low-level APIs. Installation is recommended under /opt/unitree_robotics.
• Documentation: https://github.com/unitreerobotics/unitree_sdk2, https://support.unitree.com/home/en/H1_developer
• ROS2 Integration: Supports joint state publishing, URDF/XACRO models, arm and leg control, IMU data, and MoveIt2 for manipulation. ROS_DOMAIN_ID defaults to 10.
• Documentation: https://github.com/unitreerobotics/unitree_ros2
• DDS Communication: Uses CycloneDDS over a dedicated 192.168.123.x subnet with fixed IPs: motion control (192.168.123.161), development (192.168.123.162), and sensors (192.168.123.120).
• Documentation: https://support.unitree.com/home/en/developer/DDS_services

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 — illustrating a workflow that also applies to H1.

 

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 — demonstrating navigation and mapping workflows applicable to the H1’s ROS2 integration.

 

Development Environment

• Dual-Computer Architecture: Separates real-time motion control (PC1) from development (PC2), accessible via SSH over a configured network.
• Network Configuration: Requires static IP setup with proper DDS interface configuration.

Training and Data Collection

• Reinforcement Learning: Implemented via unitree_rl_gym and unitree_rl_lab using GPU acceleration.
• Documentation: https://github.com/unitreerobotics/unitree_rl_gym
• Teleoperation: Supports XR devices like Apple Vision Pro, Meta Quest 3, and Azure Kinect for data capture.
• Documentation: https://support.unitree.com/home/en/Teleoperation/
• Dataset Management: Integrates with LeRobot framework and Hugging Face Hub for dataset storage, annotation, and training.
• Documentation: https://github.com/unitreerobotics/unitree_IL_lerobot, https://huggingface.co/unitreerobotics

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—demonstrating data collection, dataset use, and training workflows relevant to the H1’s development pipeline.

 

Example: Below is a Stanford University's video of the Unitree H1 performing human shadowing tasks — boxing, table tennis, piano playing, keyboard typing, object handling, and door operation. 

 

Example: the Unitree H1 “folding clothes and arranging items” dataset captures 38 episodes (19,000 frames at 50 fps) of daily task execution, with 19-dimensional state vectors, 1280×720 stereoscopic RGB images, and 40-dimensional motor commands for precise action tracking. Stored in Parquet for efficient processing and converted to MCAP for Foxglove visualization, it displays RGB images, joint states, the Unitree H1 URDF in 3D, and DepthAnythingV2 depth images.

Simulation Environments

• MuJoCo Simulator: Provides physics simulation with version 3.1.5, enabling direct control code reuse between simulation and hardware.
• Isaac Lab: Supports advanced training, policy validation, and deployment with configurable scenarios.
• Physics: Real-time simulation with fine time steps, collision detection, and dynamic constraints.
• Documentation: https://github.com/unitreerobotics/unitree_rl_gym

Isaac Gym	Mujoco	Physical

Simulation Tasks

• Prebuilt scenarios include pick-and-place, stacking, whole-body manipulation, and navigation, with terrain generation tools.

Integration and Deployment

• Sim2Real Pipeline: Ensures identical SDK interfaces and messaging between simulation and robot.
• Sensor Fusion: Combines LiDAR, camera, and joint encoder data.
• Model Validation: Tools for calibration and benchmarking ensure model accuracy.

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, illustrating Sim2Real workflows and safety practices also applied to H1 development.

 

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

Hardware Safety Features

• Dual-encoder joint motors enable precise torque control and prevent over-extension.
• Crossed roller bearings maintain smooth, accurate joints under load.
• Built-in torque limits protect components and people.
• 6061-T6/7075-T6 aluminum frame for strength and impact resistance.
• Mandatory protective gantry for startup/shutdown and risky operations.

Software Safety Features

• Mode hierarchy: Zero Torque (no resistance), Damping (soft e-stop), Debug (blocks motion control during dev).
• L1+A triggers immediate switch to Damping.
• Sensor fusion (IMU, encoders, contact) supports balance recovery.
• Fall-protection algorithms brake motors on instability.

Reported Motion Incidents

• On May 4, 2025, a Unitree H1 humanoid robot in China became unstable while suspended from a crane, swinging its joints and moving nearby equipment before control was restored. The issue was caused by balance algorithms misreading the crane tether as a constant destabilizing force, leading to escalating actuator corrections that clashed with suspension conditions.
• On July 19, 2025, a Unitree H1 robot named “DeREK” showed similar instability during testing, causing major equipment damage. The cause was running full-body locomotion algorithms without floor ground contact feedback, which drove the balance loops into saturation as they tried to stabilize without accurate foot-ground data.
• Control failure occurs when full-body motion control runs without ground contact reference points, such as during suspension. The tether causes constant imbalance signals, prompting feedback loops to amplify corrections behavior until saturation and instability occur. This is a critical edge case where suspension creates boundary conditions standard balance algorithms cannot handle, leading to divergent dynamics.

 

What comes included in the box with Unitree H1?

• 1× Unitree H1 humanoid robot with all standard joints and sensors
• 2× 15,000 mAh (432 Wh) lithium battery packs with BMS
• 1× 33.6 V, 9.0 A fast charger (100–240 V AC input)
• 1× two-handed 2.4 GHz/Bluetooth remote control
• 1× user manual
• 1× AC power cable for charger
• 1× USB 3 data transfer cable

What upgrades and accessories are available for the Unitree H1?

Upgrade Name	Function	MAP Price (USD)	Additional Details
Computing Upgrades
Intel Core i7 Computing Board	Enhanced development computing power with dedicated i7 processor	$4,450	Built into robot body (maximum 1 board)
NVIDIA Jetson Orin NX (100 TOPS)	Single Jetson Orin NX assembly	$4,800	External back-mounting with protective bracket, maximum 2 units per H1
NVIDIA Jetson Orin NX (200 TOPS)	Dual Jetson Orin NX assembly	$9,600	External back-mounting configuration, maximum 1 unit per H1
AGX Module (275 TOPS)	High-performance computing expansion	$11,050	External back-mounting configuration, Maximum 1 unit per H1
AGX Module (550 TOPS)	Maximum performance computing expansion	$22,100	External back-mounting configuration, Maximum 1 unit per H1
Manipulation Upgrades
Unitree Dexterous Hand	Multi-jointed dexterous manipulation	$10,500+	≥10 DOF per hand, haptic array sensors (>20 contacts per finger), 0.7 N·m max torque
Inspire Dexterous Hand	6 DOF dexterous manipulation with integrated wrist motor	$8,900	12 joints, ±0.20mm repeatability, includes wrist DOF, models: RH56DFQ-2R/2L
Power and Control Accessories
Additional Battery Pack	Extended operational runtime and hot-swap capability	$1,580	15Ah (432Wh), 28.8V nominal, 33.6V charging limit
Additional Remote Control	Backup or multi-operator control capability	$590	2.4GHz, 100m+ range, 4.5-hour runtime, Bluetooth dual-mode
Fast Charger	Rapid battery charging capability	$590	33.6V, 9A output, 0.8-hour standard charging time
Support Equipment
H1 Gantry	Safe robot suspension during development and maintenance	$1,290	Debugging protection bracket
Replacement Components
Inspire Hand Four-Finger Motor (LAF10-024D)	Repair/spare parts for Inspire hand	$399	70N max thrust, 10mm stroke, ±0.02mm accuracy
Inspire Hand Thumb Motor (LASF10-024D)	Repair/spare parts for Inspire hand	$419	150N max thrust, 10mm stroke, ±0.02mm accuracy

Unitree Dex5-1 Dexterous Hand

The Dex5-1 series is a dexterous robotic hand line with two variants: the standard Dex5-1 and the Dex5-1P with integrated tactile sensing. Both have human-like articulation with 16 DOF across five fingers.

Key Features

• Tactile Intelligence (Dex5-1P): 94 tactile sensors enable advanced feedback and tactile algorithm development.
• Actuation: High-power hollow-cup motors, low-damping reducers, 12 micro force-controlled joints, micro-gap design for smooth grasping.
• Precision Engineering: Optimized axis placement prevents interference during manipulation.

Specifications

• Weight: 1000 g; Size: 217.3×127.5×72.1 mm
• Grip: Min. 10 mm objects
• Load: 3.5 kg (palm down), 4.5 kg (palm sideways)
• Accuracy: ±1 mm fingertip repeatability
• Force: 10 N max fingertip
• Rate: 1000 Hz; Temp: -20 °C to 60 °C
• Power: 24–60 V (58 V@0.2 A idle, 3 A max)

Articulation

• Thumb: 4 DOF (-33.5° to 110°)
• Fingers: 3 DOF each, ±22° lateral swing
• Joints: 0°–95° primary articulation

Sensing (Dex5-1P)

• 12 primary pressure sensors (94 total in arrays)
• Pressure range: 10 g–2500 g
• Max load: 20 kg without damage

Control & Feedback

• Position, velocity, torque, temperature, voltage, current, IMU
• Modes: position, velocity, torque, stiffness, damping
• Dex5-1P adds pressure & temperature sensing

 

Inspire Dexterous Hands RH56DFQ-2R, RH56DFQ-2L (third-party)

Dexterous hands parameters:

• Degree of freedom: 6
• Number of joints: 12
• Repeat positioning accuracy: ±0.20 mm
• Maximum grip force of thumb: 6N
• Maximum grip force of four fingers: 4N
• Grip force resolution: 0.50N
• Thumb lateral rotation range＞65°
• Thumb lateral swing speed: 235°/s
• Thumb bending speed: 150°/s
• Four fingers bending speed: 570°/s

Wrist joint motor parameters:

• Rated torque: 3 Nm
• Peak torque: 7 Nm
• Rated speed: 120 rpm
• No-load max speed: 200 rpm
• Deceleration ratio: 10:1
• Number of pole pairs: 14

 

H1 gantry 

A debugging protection bracket for the H1.

Two-handed remote control

A long-range remote control. One is included by default.

H1 battery

A universal humanoid robot battery. One model requires two batteries. Two items are included by default.

Fast charger

One item is included by default.

 

H1 specialized Intel Core i7 computing board

This board can be built into the robot body (up to 1 board). It is recommended that the robot is purchased with the board if necessary. Purchasing the board separately is highly discouraged.

H1 specialized Nvidia Jetson Orin NX computing board

These boards are externally mounted on the robot body. 

• 100 / 200 tops computing power
• Maximum capacity for one robot: 200 tops
• Specialized high-strength protective bracket

AGX module for H1

Externally mounted on the back of the robot (275 / 550 tops computing power). Compatible with the Unitree H1, H1-2, and B2 models.

 

Inspire LAF10-024D four-finger motor

A spare part for repair.

• Maximum thrust: 70N
• Stroke: 10 mm
• Repeat positioning accuracy: ±0.02 mm
• Integrated force feedback

Inspire LASF10-024D thumbs motor 

A spare part for repair.

• Maximum thrust: 150N
• Stroke: 10 mm
• Repeat positioning accuracy: ±0.02 mm
• Integrated force feedback

What maintenance is required for the Unitree H1?

The Unitree H1 requires pre- and post-operation inspections for reliability and longevity of this robotics technology.

Pre-Operation (Power Off)

• Appearance: Check cleanliness, damage, or deformation
• Sensors: Clean camera lenses; ensure LiDAR is unobstructed
• Structure: Inspect joints, connections, and feet for cracks/damage
• Hardware: Tighten screws, especially joint connectors and battery locks
• Cooling: Keep fan intakes/exhausts clear
• Batteries: Check for debris, deformation, secure fit, and undamaged shells
• Remote: Verify joystick and button function

Post-Operation (Power On)

• Remote: Test functions and charge level
• Battery: Confirm adequate power
• Cooling: Listen for normal fan operation

Cleaning

• Power off before cleaning with a dry, soft cloth
• Focus on camera/LiDAR lenses
• Store in a cool, dry place away from sunlight and moisture (H1 is not waterproof/dustproof)

Battery Care

• Avoid charging in extreme heat or storing above 40 °C
• Do not overcharge
• Store at 30–70% charge; recharge to 70% if below 30%

Software

• Supports OTA firmware and control algorithm updates

What is the warranty of the Unitree H1?

The H1 warranty starts on delivery and covers manufacturing defects under normal use for personal (non-resale) purchases.

Valid only if:

• Product is unmodified, original Unitree with proof of purchase
• No disassembly, or shell opening
• No unauthorized, or dangerous modifications, or using the robot in a hazardous manner
• Factory calibration remains intact (no user recalibration)

The H1 warranty covers:

• Manufacturing defects
• Failures from design or production issues
• Replacement parts with the same warranty period as the original
• Functional equivalents for replacements (may be used but in good working order)

The H1 warranty excludes damage from:

Usage:

• Expired warranty period
• Misuse (falls, squeezing, immersion, violent handling)
• Non-original accessories causing faults
• Unauthorized modifications/disassembly
• Incorrect installation or operation
• Self-repair or unauthorized part swaps

Environmental:

• Operation in severe conditions (EMI, rain, sand, wetland, rough terrain)
• Extreme terrain or very low friction surfaces
• Overloading beyond safe capacity
• Collisions in complex environments
• Weather-related mishandling

Development:

• SDK/dev mode damage (e.g., vision control collisions, overextending joints)
• Third-party product conflicts
• Operating with damaged or worn parts

Physical damage signs:

• Collision marks, scratches
• Dust, gravel, water, or metal powder contamination
• Water/corrosion damage from humidity

Customer responsibilities:

• Pay shipping to Unitree or its distributor for initial warranty service
• Back up data before sending (servicing may cause data loss)
• Severely damaged batteries are scrapped, not returned

Unitree responsibilities:

• Diagnose and test issues, determine warranty eligibility
• Cover testing, parts, labor, and return shipping for valid defects
• Charge inspection fees + parts/labor for non-warranty issues

Service limits:

• Only Unitree or its authorized distributor provides servicing—no third-party repairs allowed

Liability limits:

• No coverage for data loss or confidential info leaks
• No consequential damages (profits, income, savings)
• No personal/property damage liability from robot operation

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

What support is offered with the Unitree H1?

Support channels:

• Email: support@unitree.cc for hardware, software, and operational help
• Enterprise support: Dedicated account management and fleet tools via Unitree Explore App
• Warranty/repairs: Only through Unitree, no third-party service allowed

Documentation & technical resources:

• Online docs with specs, procedures, and dev guides
• Full SDK2 docs (C++ & Python) with API refs, examples, and integration guides
• ROS2 resources for drivers, sensors, and MoveIt2 integration

Developer & open source tools:

• GitHub repos: unitree_sdk2, unitree_ros2, unitree_mujoco
• RL frameworks (Isaac Gym, Isaac Lab)
• Teleoperation (XR, Kinect)
• Simulation tools for full Sim2Real workflows

Mobile app (Unitree Explore):

• Tutorials, device binding, real-time monitoring, and remote setup/calibration
• Available on iOS and Android

Training & educational resources:

• Interactive in-app tutorials
• Example programs for joint control, manipulation, and locomotion
• Community-contributed tools and patterns

Workflow integration:

• Support covers full pipeline from setup to advanced applications (Sim2Real, teleop data, RL)
• Multi-modal access: email, app, docs, community

Does the Unitree H1 Humanoid Robot contain any covered telecommunications equipment or services as prohibited under FAR 52.204-25?

The Unitree H1 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 H1 cost?

The Unitree H1 is priced at $94,905.00, including:

• 19-DOF humanoid robot
• Two 15Ah batteries (864Wh total)
• Two fast chargers
• Two-handed wireless remote
• MID-360 LiDAR + Intel RealSense D435i depth camera
• Dual computing units: Intel i5 (motion) + Intel i7 (development)