Unitree · Humanoid robot

G1

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10related scenarios
29related tasks
11krecords
98hours

Capacity: 660-5,640h/mo

Robot parameters

Mechanical Structure5 parameters
Height, width, and thickness (standing)
1270×450×200 mm
Height, width, and thickness (folded)
690×450×300 mm
Weight with battery
Approx. 35 kg
Lower leg + thigh length
0.6 m
Arm span
Approx. 0.45 m
Degrees of Freedom Allocation (excluding dexterous hand)4 parameters
Total DOF
29 DOF (excluding dexterous hand)
Single-leg DOF
6 DOF
Single-arm DOF
7 DOF
Waist DOF
3 DOF
Robot Performance Parameters6 parameters
Knee joint maximum torque
120 N·m
Arm maximum payload
3 kg
Large joint motion range
Waist Z-axis joint: +/-155 deg; knee joint: 0-165 deg; hip joint: P +/-154 deg, R -30 to +170 deg, Y +/-158 deg
Hollow internal cable routing for all joints
Yes
Joint encoder
Dual encoders
Cooling system
Localized air cooling
Compute / Connectivity / Audio5 parameters
Power supply method
13-series battery
Base computing power
8-core high-performance CPU
Dock computing power
Built-in 100 TOPS compute, supports secondary development, includes AI algorithms and technical support
Wireless communication
Supports WiFi 6 and Bluetooth 5.2
Audio
Standard stereo speakers and microphone array
Battery / Maintenance / Development5 parameters
Battery life
Approx. 2 h (standard 1 battery)
Smart OTA upgrade
Supported
Secondary development
Supports high-level and low-level secondary development, with technical support, development manuals, and ecosystem support
Warranty period
18 months
Body accessories
1 charger, 1 handheld remote controller, 1 smart battery (quick-release)
Teleoperation / Data Collection2 parameters
Whole-body teleoperation motion-control algorithm
Supported; manual teleoperation is available through a VR teleoperation kit
Data acquisition platform access
Supports connection to the data acquisition platform for robot teleoperation data collection
Sensor System2 parameters
Head HD binocular camera FOV
H:115°, V:80°, D:125°
Head HD binocular camera resolution
3840×1200

End effectors

Dex hands or grippers configured for collection with this robot model.

Gripper28 parameters
Compatible model
Mainly used for G1 and G1-D
Dimensions
143 mm × 78 mm × 67 mm
Weight
550 g
Stroke
90 mm
Grip force (adjustable)
5~120 N
Speed (adjustable)
50~375 mm/s
Position resolution (fingertip)
0.1 mm
Grasping load (adaptive)
20 kg
Grasping load (friction)
5 kg
Minimum full-stroke closing time
0.24 s
Finger length
80 mm
Communication protocol
High-speed RS-485
Communication baud rate
6 Mbps
Communication control frequency
1000 Hz
Operating voltage
24 V-64 V (24/48 VDC recommended)
Static current
0.03 A
Peak phase current
3.5 A
Motor peak torque
5 N·m
Maximum motor speed
27 rad/s (with 64 V power supply)
Recommended operating environment
-20℃ ~ 60℃
Motor reduction ratio
01:25:00
Motor encoder resolution
15 bit
Motor encoder type
Absolute encoder
Motor status feedback
Angle, angular velocity, torque, temperature
Motor control command
Angle, angular velocity, torque, stiffness, damping
Built-in RGB camera FOV
H:130°, V:60°, D:160°
Built-in RGB camera resolution
1920×1080
Secondary development
Supports secondary development and provides robot development interfaces
Dexterous Hand11 parameters
Brand
Revo 2 Tactile (QiangNao)
Compatibility status
Adapted five-finger dexterous hand: QiangNao bionic dexterous hand Revo 2 tactile version (with RGB camera)
Degrees of freedom
6
Number of joints
11
Weight
383 g
Whole-hand grip force
50 N
Single-finger pinch force
15 N
Repeatability
0.1°
Height
160 mm (middle fingertip to palm base)
RGB camera
FOV 160°
Tactile sensing
Pressure, friction, direction, proximity

Recorded topics & schemas

Topics this robot can record. Expand any topic to inspect the corresponding schema.

/lowcmdWhole-body low-level motor command bus.Command976 HzcdrView schema

unitree_hg/msg/LowCmd

Command

High-rate whole-body motor command array for the Unitree G1 low-level bus.

motor_cmd[35]MotorCmd[]
Command slots containing q, dq, tau, kp, and kd.
crcuint32
SDK command checksum.
Raw ros2msg
MotorCmd[35] motor_cmd
uint32 crc
/lowstateWhole-body measured low-level robot state.Motion state1,042 HzcdrView schema

unitree_hg/msg/LowState

Motion state

High-rate whole-body measured state including machine mode, tick, IMU, and 35 motor state slots.

mode_pr / mode_machineuint8
Robot operating modes.
tickuint32
Controller tick.
imu_stateIMUState
Base IMU state.
motor_state[35]MotorState[]
Measured q, dq, ddq, tau_est and temperature values.
Raw ros2msg
uint8 mode_pr
uint8 mode_machine
uint32 tick
IMUState imu_state
MotorState[35] motor_state
/joint_statesNamed joint summary for robot and end-effector variant.Motion state104 HzcdrView schema

sensor_msgs/msg/JointState

Motion state

Named joint summary useful for reading robot and hand variant state without slot decoding.

name[]string[]
Joint names; count depends on Dex1 or BrainCo variant.
position[] / velocity[] / effort[]float64[]
Joint values aligned to name array.
Raw ros2msg
Header header
string[] name
float64[] position
float64[] velocity
float64[] effort
/fsm/teleop/cmdPICO SMPL teleoperation body vector.Teleoperation50 HzcdrView schema

std_msgs/msg/String

Teleoperation

JSON text payload carrying PICO SMPL teleoperation input.

datastring
JSON string with pico_smpl and an 84-float body vector.
Raw ros2msg
string data
/cam_head/compressed_imageHead RGB camera.Camera30 HzcdrView schema

sensor_msgs/msg/CompressedImage

Camera

JPEG image envelope for head and wrist RGB cameras.

headerstd_msgs/Header
Camera frame timestamp.
formatstring
JPEG format descriptor.
datauint8[]
JPEG payload.
Raw ros2msg
Header header
string format
uint8[] data
/cam_wrist_left/compressed_imageLeft wrist RGB camera.Camera30 HzcdrView schema

sensor_msgs/msg/CompressedImage

Camera

JPEG image envelope for head and wrist RGB cameras.

headerstd_msgs/Header
Camera frame timestamp.
formatstring
JPEG format descriptor.
datauint8[]
JPEG payload.
Raw ros2msg
Header header
string format
uint8[] data
/cam_wrist_right/compressed_imageRight wrist RGB camera.Camera30 HzcdrView schema

sensor_msgs/msg/CompressedImage

Camera

JPEG image envelope for head and wrist RGB cameras.

headerstd_msgs/Header
Camera frame timestamp.
formatstring
JPEG format descriptor.
datauint8[]
JPEG payload.
Raw ros2msg
Header header
string format
uint8[] data
/brainco/left/cmdLeft BrainCo hand command variant.End effector49 HzcdrView schema

unitree_go/msg/MotorCmds

End effector

Variable-length end-effector command array. Dex1 and BrainCo variants have different dimensions.

cmds[]MotorCmd[]
Finger or gripper motor command entries.
/brainco/right/cmdRight BrainCo hand command variant.End effector49 HzcdrView schema

unitree_go/msg/MotorCmds

End effector

Variable-length end-effector command array. Dex1 and BrainCo variants have different dimensions.

cmds[]MotorCmd[]
Finger or gripper motor command entries.
/brainco/left/stateLeft BrainCo hand measured state.End effector95 HzcdrView schema

unitree_go/msg/MotorStates

End effector

Variable-length end-effector state array for gripper or dexterous hand variants.

states[]MotorState[]
Measured finger or gripper state entries.
/brainco/right/stateRight BrainCo hand measured state.End effector95 HzcdrView schema

unitree_go/msg/MotorStates

End effector

Variable-length end-effector state array for gripper or dexterous hand variants.

states[]MotorState[]
Measured finger or gripper state entries.
/tfRobot kinematic tree rooted at pelvis.Transforms67 HzcdrView schema

tf2_msgs/msg/TFMessage

Transforms

Stamped robot frame transforms; /tf is dynamic robot kinematics and /tf_static carries fixed mounts.

transforms[]geometry_msgs/TransformStamped[]
Stamped frame transforms.
Raw ros2msg
geometry_msgs/TransformStamped[] transforms
/tf_staticFixed sensor and end-effector mount frames.Transforms20 HzcdrView schema

tf2_msgs/msg/TFMessage

Transforms

Stamped robot frame transforms; /tf is dynamic robot kinematics and /tf_static carries fixed mounts.

transforms[]geometry_msgs/TransformStamped[]
Stamped frame transforms.
Raw ros2msg
geometry_msgs/TransformStamped[] transforms