humanoidrobots.systems

unitree/g1 · spec sheet

Unitree G1 specs

Compact 1.32 m humanoid with 23-43 DOF depending on configuration, widely used as a research platform.

Maker
Unitree Robotics
Class
Humanoid
Status
Active
Availability
Buy
Country
China, Hangzhou
Level
L2 Sim-verified
01

Media

4 items · credited and licensed
Unitree G1 studio render, three-quarter front viewrender
Studio render of the published MJCF, keyframe pose from the model. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from mujoco_menagerie/unitree_g1 (BSD-3-Clause)license: Hyperspawn rendergithub.com
Unitree G1 studio render, side viewrender
Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from mujoco_menagerie/unitree_g1 (BSD-3-Clause)license: Hyperspawn rendergithub.com
Unitree G1 humanoid walking at UAV Expo 2024
Via Wikimedia Commons (CC0).Sayanesy, via Wikimedia Commonslicense: CC0-1.0commons.wikimedia.org
4 s turntable of the MJCF studio render.Rendered by Hyperspawn from mujoco_menagerie/unitree_g1 (BSD-3-Clause)license: Hyperspawn rendergithub.com
02

Specifications

10/12 fields sourced
Unitree G1 specifications
Heightspecs.heightCm132cm
Massspecs.massKg35kg
Degrees of freedomspecs.dof23
Payloadspecs.payloadKg2kg
Top speedspecs.speedMpsunsourced
Runtimespecs.runtimeMin120min
Battery capacityspecs.batteryWhunsourced
Pricespecs.priceUsd13,500USDBase G1 US$13.5K excl. tax and shipping per unitree.com; G1 EDU (up to 43 DOF, Orin) is contact-sales.
Actuatorsspecs.actuatorsUnitree in-house electric joint motors
Computespecs.compute8-core CPU; optional Jetson Orin module (EDU)
Sensorsspecs.sensorsDepth camera, 3D LiDAR, 4-mic array
Year introducedyear2024
Licenselicense.hw / .sw / .docsHardware: ProprietarySoftware: BSD-3-Clause

Note · Arm load is about 2-3 kg depending on posture. Optional Dex3-1 force-controlled hand.

03

Openness

method
40 / 100Partly open
ArtifactPublicWeightPoints
CADopenness.cadno250
Bill of materialsopenness.bomno200
Sim model (URDF/MJCF)openness.simyes2020
Firmwareopenness.firmwareno150
Softwareopenness.softwareyes1010
Trained policiesopenness.policiesyes1010
score = Σ weight × public40
04

Models, repositories, links

11 links
05

Videos

3 tagged · 0 from the maker's channel
Unitree Introducing | Unitree G1 Humanoid Agent | AI Avatar | Price from $16KUnitree RoboticsOfficial embedyoutube.comUnitree RoboticsUnitree G1
Movement creates intelligence - Unitree's G1 humanoid robot nails the world's first kip-up!😘Unitree RoboticsOfficial embedyoutube.comUnitree RoboticsUnitree G1
World's First Side-Flipping Humanoid Robot: Unitree G1Unitree RoboticsOfficial embedyoutube.comUnitree RoboticsUnitree G1
06

News and papers

0 stories · 0 papers

News mentioning Unitree G1

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Papers using Unitree G1

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07

Timeline

industry timeline

20241

  1. Robot

    Unitree unveils the G1 humanoid

    Unitree showed the G1 humanoid at ICRA 2024 with a listed starting price of $16,000.

    Unitree RoboticsUnitree G1therobotreport.com
08

Sources

last checked 2026-09-24
  1. [1]Unitree G1 product pageunitree.com/g1checked 2026-09-24
  2. [2]unitree_rl_gymgithub.com/unitreerobotics/unitree_rl_gymchecked 2026-09-24
09

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Related

11

Cite this page

humanoidrobots.systems. “Unitree G1 specs.” Hyperspawn, data revision 2026-10-08. https://humanoidrobots.systems/unitree/g1

Machine-readable: /data.json (record unitree/g1).