G1 Unitree Humanoid Intelligence
| Mechanical Dimensions |
Model name | G1 | G1 EDU |
| Height, Width, Thickness (upright) | 1320 x 450 x 200mm | 1320x450x200mm | |
| Height, Width, Thickness (folded) | 690 x 450 x 300mm | 690x450x300mm | |
| Weight with battery | about 35kg | about 35kg+ | |
| Total freedom (joint motor) | 23 | 23 – 43 | |
| Freedom of one leg | 6 | 6 | |
| Waist freedom | 1 | 1+ (Optional 2 lumbar degrees of freedom) | |
| One Arm Freedom | 5 | 5 | |
| Single hand freedom | / | 7 (optional force-controlled 3-finger dexterity Dex3-1) + 2 (optional 2 wrist degrees of freedom) Parameters of the Dex3-1 3-Finger dexterity hand: 3 active degrees of freedom for the thumb; 2 active degrees of freedom for the index finger; 2 active degrees of freedom for the middle finger. Dex3-1 can be optionally equipped with a multi-touch array. |
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| Joint output bearing | Industrial grade cross roller bearings (high precision, high load capacity) | Industrial grade cross roller bearings (high precision, high load capacity) | |
| Joint Motor | High speed, low inertia internal rotor permanent magnet synchronous motor (better response speed and heat dissipation) |
High speed, low inertia internal rotor permanent magnet synchronous motor (better response time and heat dissipation) |
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| Knee Maximum torque | 90 N.m | 120N.m | |
| Arm Maximum load | about 2Kg | about 3Kg | |
| Calf + Thigh Length | 0.6M | 0.6M | |
| Arm spread | about 0.45M | about 0.45M | |
| Extra large joint clearance | Lumbar Joint: Z±155° Knee Joint: 0~165° Hip Joint: P±154°, R-30~+170°, Y±158° |
Lumbar Joints: Z ± 155°, X ± 45°, Y ± 30° Knee Joint: 0~165° Hip Joint: P±154°, R-30~+170°, Y±158° Wrist: P±92.5°, Y±92.5° |
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| Electrical Characteristics |
Fully articulated hollow internal alignment | Yes | Yes |
| Joint Encoder | Dual Encoder | Dual Encoder | |
| Heat Dissipation System | Local air cooling | Local air cooling | |
| Power Supply | 13 series lithium battery | 13 series lithium battery | |
| Base power | 8-core high performance CPU | 8-core high performance CPU | |
| Sensor array | Depth camera + 3D LIDAR | Depth camera + 3D LIDAR | |
| 4 microphone arrays | Yes | Yes | |
| 5w speakers | Yes | Yes | |
| WiFi 6, Bluetooth 5.2 | Yes | Yes | |
| Matching | High performance computing module | / | / |
| Smart battery (quick release) | 9000 mAh | 9000 mAh | |
| Wall charger | 54V 5A | 54V 5A | |
| Handheld remote control | Yes | Yes | |
| Others | Durability | about 2h | about 2h |
| Intelligent OTA Upgrade | Yes | Yes | |
| Secondary development | / | Yes | |
| Warranty period | 8 Months | 1 Year |
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