Unitree G1

Unitree

The Unitree G1 is a lightweight humanoid standing about 1.32 m tall and weighing about 35 kg with battery, priced at ¥85,000. It is known for agile motion: peak knee torque is 90 N·m, and with imitation learning and reinforcement learning it performs complex high-dynamic movements. Manipulation relies on hybrid force-position control, where position control guarantees the reach and force control prevents brute force, making grasping both stable and accurate. Maximum arm payload is about 2 kg (about 3 kg on EDU), with an optional force-controlled three-finger dexterous hand, the Dex3-1. A depth camera and a 3D LiDAR let it read its surroundings, and a 9000 mAh quick-release battery provides roughly 2 hours of operation.

Full-body DoF

23 DoF

Rated arm payload

~2 kg

Weight

~35 kg