--- id: hardware-specs title: "Hardware Specifications" status: established source_sections: "reference/sources/official-product-page.md, reference/sources/official-user-manual.md, reference/sources/community-robostore-specs.md" related_topics: [joint-configuration, sensors-perception, power-system, safety-limits] key_equations: [] key_terms: [dof, actuator, battery_capacity, pmsm, jetson_orin_nx, dual_computer_architecture] images: [] examples: [] open_questions: - "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 | ## Key Relationships - Drives: [[joint-configuration]] (actuators define joint capabilities) - Integrates: [[sensors-perception]] (sensor suite is variant-dependent) - Powered by: [[power-system]] - Constrained by: [[safety-limits]]