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unitree-g1/context/hardware-specs.md

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id title status source_sections related_topics key_equations key_terms images examples open_questions
hardware-specs Hardware Specifications established reference/sources/official-product-page.md, reference/sources/official-user-manual.md, reference/sources/community-robostore-specs.md [joint-configuration sensors-perception power-system safety-limits] [] [dof actuator battery_capacity pmsm jetson_orin_nx dual_computer_architecture] [] [] [Confirm IP rating and environmental tolerances Exact link masses and inertia tensors for dynamics modeling]

Hardware Specifications

Overview of the Unitree G1 humanoid robot's physical specifications, dimensions, and hardware capabilities.

1. Overview

The Unitree G1 is a general-purpose humanoid robot designed for research and commercial applications. Launched by Unitree Robotics, it is the most affordable production humanoid robot (starting at $13,500 USD). It features a compact form factor, reinforcement-learning-based locomotion, and is available in multiple configurations with 23 to 43 degrees of freedom. [T0 — Spec Sheet]

2. Physical Dimensions

Parameter Value Unit Source Tier
Height (standing) 1.32 m Official product page T0
Height (folded) 0.69 m Official product page T0
Width 0.45 m Official product page T0
Depth 0.20 m Official product page T0
Weight (base) ~35 kg Official product page T0
Leg length (combined) 0.60 m Official product page T0
Arm reach ~0.45 m Official product page T1

3. Variants

Variant DOF Price (USD) Key Differences Compute
G1 Standard (base) 23 $13,500 Standard config, prosthetic hand, no Jetson 8-core CPU
G1 EDU Standard 23-43 $43,500 SDK access, expandable DOF, Dex3-1 hand 8-core + Jetson Orin NX 16GB
G1 EDU Ultimate A 43 $63,900 Full DOF, Dex3-1 hand, extra waist/wrist joints 8-core + Jetson Orin NX 16GB
G1 EDU Ultimate B 43 $73,900 Same as A + 33 tactile sensors per hand 8-core + Jetson Orin NX 16GB
G1 Pro Series 23-43 $51,900-$56,900 Professional use 8-core + Jetson Orin NX 16GB
G1-D Platform 17-19 — Wheeled humanoid (differential drive mobile base) Jetson Orin NX

[T0 — Spec Sheet, pricing from official sources and retailers]

DOF Breakdown by Variant

  • 23-DOF (base): 6 per leg (12) + 1 waist + 5 per arm (10) = 23
  • 29-DOF (EDU): 6 per leg (12) + 3 waist + 7 per arm (14) = 29
  • 43-DOF (Ultimate): 29 body joints + 7 per Dex3-1 hand (14) = 43

4. Compute Platform

The G1 uses a hierarchical dual-computer architecture. [T0 — Developer Guide]

Component Specification IP Address Notes
Locomotion Computer Rockchip RK3588 (8-core ARM A76/A55, 8GB LPDDR4X, 32GB eMMC) 192.168.123.161 Proprietary, runs balance/gait
Development Computer NVIDIA Jetson Orin NX 16GB (100 TOPS) 192.168.123.164 User-accessible, runs applications
Main CPU 8-core high-performance processor — Both computers
AI Performance 100 TOPS — Jetson Orin NX (EDU variants only)
Connectivity WiFi 6 (802.11ax), Bluetooth 5.2 — —
OS Linux-based — —
Network Subnet 192.168.123.0/24 — All onboard devices

Architecture

The locomotion computer is a Rockchip RK3588 running Linux kernel 5.10.176-rt86+ (real-time patched). It handles low-level motor control, sensor data processing, balance, and stability algorithms at a 500 Hz real-time control loop. It runs 26 daemons supervised by a master_service orchestrator, with the ai_sport daemon as the primary locomotion/balance policy. It is not officially user-accessible, though root access has been achieved via BLE security exploits (see safety-limits §6 and locomotion-control §8 for details). It exposes motor control APIs via CycloneDDS middleware. [T1 — arXiv:2509.14096]

The development computer (Jetson Orin NX, EDU variants) is user-accessible and runs custom applications, AI models, and perception pipelines. It communicates with the locomotion computer via DDS over the internal network.

5. Mechanical Design

  • Motors: Low-inertia Permanent Magnet Synchronous Motors (PMSM) with hollow shafts for reduced weight and internal wiring [T0]
  • Transmission: Compact planetary gearboxes, backdrivable design [T0]
  • Bearings: Industrial-grade crossed roller bearings [T0]
  • Encoders: Dual encoders per joint for position and velocity feedback [T0]
  • Thermal: Built-in temperature sensors per motor, efficient cooling via hollow motor design [T0]
  • Control: Force-position hybrid control, torque limiting capability [T0]
  • Battery: Quick-release smart battery with connector (see power-system) [T0]

6. Performance Summary

Metric Value Notes Tier
Max walking speed 2.0 m/s 7.2 km/h T0
Arm payload (standard) 2 kg Per arm T0
Arm payload (EDU) 3 kg Per arm T0
Max knee torque (base) 90 Nm — T0
Max knee torque (EDU) 120 Nm — T0
Control loop rate 500 Hz Locomotion computer T0
DDS comm latency 2 ms — T0
Battery runtime ~2 hours Continuous operation T0
Terrain support Tile, concrete, carpet Verified surfaces T1

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