Hardware / Humanoid

G1

Unitree G1 · Unitree Robotics

Robot profile & datasets Open in knowledge graph Vendor page

DEGREES OF FREEDOM: 23
HEIGHT: 1.32 m
MASS: 35 kg
PAYLOAD: 2 kg
TOP SPEED: 2 m/s
CONTROL RATE: 500 Hz

POWER: 9 Ah swappable pack
RUNTIME: ~2 h light use
ONBOARD COMPUTE: Intel N97 host + optional NVIDIA Jetson Orin (8-frame)
INTERFACES: EtherCAT joint bus, Wi-Fi 6, Gigabit Ethernet

Actuators

Joints and end effectors that produce the action vector recorded in datasets.

Leg joints

×12

Quasi-direct-drive rotary

peak 120 N·m knee torque

Arm joints

×10

Quasi-direct-drive rotary

peak 25 N·m

Waist

×1

Rotary

yaw only on base model

Three-finger hand (Dex3-1 option)

×2

Tendon-driven

7 DoF per hand

Motors & drives

The drive units inside those joints, with torque and reduction details.

M107 series joint motor

PMSM, planetary reducer

knee/hip, 120 N·m peak

Compact arm motor

PMSM

shoulder/elbow, 25 N·m peak

Sensors

Observation streams available to a policy running on this platform.

Livox MID-360

3D LiDAR

360°×59° FoV

Intel RealSense D435i

Depth camera

stereo depth + IMU

Joint encoders

Absolute magnetic

per-joint position and current

Body IMU

9-axis

attitude estimation

Foot force

Contact estimation

derived from joint current

Most widely used sub-$20K humanoid research platform; joint torques are vendor peak values, not continuous ratings.

Data recorded on this hardware

Resolving related models, datasets and papers…