RobotData

Hardware / Humanoid

H1

Unitree H1 · Unitree Robotics

Robot profile & datasetsOpen in knowledge graphVendor page
DEGREES OF FREEDOM
19
HEIGHT
1.80 m
MASS
47 kg
TOP SPEED
3.3 m/s
CONTROL RATE
500 Hz
POWER
15 Ah pack
RUNTIME
~1 h dynamic walking
ONBOARD COMPUTE
Onboard x86 host + Jetson Orin
INTERFACES
EtherCAT, Wi-Fi 6, Ethernet

Actuators

3

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

Leg joints

×10

Quasi-direct-drive rotary

knee peak 360 N·m

Arm joints

×8

Rotary

peak 75 N·m shoulder

Torso yaw

×1

Rotary

±155°

Motors & drives

2

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

M107 knee motor

PMSM with planetary gear

360 N·m peak, 220 rpm

M107 hip motor

PMSM

360 N·m peak

Sensors

4

Observation streams available to a policy running on this platform.

Livox MID-360

3D LiDAR

360° scanning

Intel RealSense D435i

Depth camera

RGB-D

Joint encoders

Dual absolute

motor + output side

IMU

9-axis

400 Hz state estimation

Full-size humanoid used for locomotion RL and whole-body control research.

Data recorded on this hardware

Resolving related models, datasets and papers…