Platform

G1

Unitree 宇树科技 China

Fights as — No fighter on record uses this platform yet

132 cm Height
35 kg Weight
23–43 DoF Degrees of freedom
120 N·m Knee joint, G1 EDU. The base G1 is 90 N·m, and the maker notes this is the largest joint motor, not all of them. Peak joint torque
— Speed

Editions 2

Edition	Degrees of freedom	Price
G1	23	$13,500
G1 EDU	43 23–43 depending on options: 6 per leg, 5 per arm, 1–3 waist, 7 dexterous hand, 2 wrist	—

$13,500, as published by the manufacturer. The rest are quoted on request.

Parts 30

30 parts in 5 groups, from the maker's own simulation files.

Left leg 6

Part	Mass kg	Range	Peak torque N·m	Max speed rad/s, the simulation model's limit
Left hip pitch	1.35	−145° to 165°	88	32
Left hip roll	1.52	−30° to 170°	139	20
Left hip yaw	1.70	−158° to 158°	88	32
Left knee	1.93	−5° to 165°	Sources disagree 139 sim. model 90 spec sheet G1 120 spec sheet G1 EDU Peak knee torque on the maker's sheet. The maker says it is the largest joint motor, not all of them.	20
Left ankle pitch	0.07	−50° to 30°	Sources disagree 50 Menagerie 35 Unitree URDF	30
Left ankle roll	0.61	−15° to 15°	Sources disagree 50 Menagerie 35 Unitree URDF	30

Right leg 6

Part	Mass kg	Range	Peak torque N·m	Max speed rad/s, the simulation model's limit
Right hip pitch	1.35	−145° to 165°	88	32
Right hip roll	1.52	−170° to 30°	139	20
Right hip yaw	1.70	−158° to 158°	88	32
Right knee	1.93	−5° to 165°	Sources disagree 139 sim. model 90 spec sheet G1 120 spec sheet G1 EDU Peak knee torque on the maker's sheet. The maker says it is the largest joint motor, not all of them.	20
Right ankle pitch	0.07	−50° to 30°	Sources disagree 50 Menagerie 35 Unitree URDF	30
Right ankle roll	0.61	−15° to 15°	Sources disagree 50 Menagerie 35 Unitree URDF	30

Left arm 7

Part	Mass kg	Range	Peak torque N·m	Max speed rad/s, the simulation model's limit
Left shoulder pitch	0.72	−177° to 153°	25	37
Left shoulder roll	0.64	−91° to 129°	25	37
Left shoulder yaw	0.73	−150° to 150°	25	37
Left elbow	0.60	−60° to 120°	25	37
Left wrist roll	0.09	−113° to 113°	25	37
Left wrist pitch	0.48	−93° to 93°	5	22
Left wrist yaw	0.25	−93° to 93°	5	22

Right arm 7

Part	Mass kg	Range	Peak torque N·m	Max speed rad/s, the simulation model's limit
Right shoulder pitch	0.72	−177° to 153°	25	37
Right shoulder roll	0.64	−129° to 91°	25	37
Right shoulder yaw	0.73	−150° to 150°	25	37
Right elbow	0.60	−60° to 120°	25	37
Right wrist roll	0.09	−113° to 113°	25	37
Right wrist pitch	0.48	−93° to 93°	5	22
Right wrist yaw	0.25	−93° to 93°	5	22

Trunk 4

Part	Mass kg	Range	Peak torque N·m	Max speed rad/s, the simulation model's limit
Pelvis	3.81	—	—	—
Waist yaw	0.21	−150° to 150°	88	32
Waist roll	0.09	−30° to 30°	Sources disagree 50 Menagerie 35 Unitree URDF	30
Torso	7.82	−30° to 30°	Sources disagree 50 Menagerie 35 Unitree URDF	30

33.34 kg in the simulation model · ~35 kg on the spec sheet

Continuous torque: ···· No manufacturer publishes it.
Gear ratio: ···· No manufacturer publishes it.

The rest of the sheet

Sensing: Depth camera + 3D LiDAR, 4-microphone array, 5 W speaker
Compute: 8-core CPU, optional high-power module such as Orin
Battery: 13-cell lithium, 9,000 mAh, 54 V 5 A charger
Bearings: Industrial-grade crossed roller
Motors: Low-inertia high-speed inner-rotor PMSM
Warranty: 8 months (G1) · 18 months (G1 EDU)

Variants 3

G1-D
G1-Comp
G1-Boxing

Unitree sells a fighting variant. Its own product page for the G1-Boxing — «Iron Fist King: Awakening», subtitled «Reshaping Tech Combat Sport» — says it is trained through a motion-capture system and controlled by motion-sensing, controller or voice. By the maker's own description it is not autonomous, and that is checkable without asking any league.

Fighters on this platform 0

— No fighter on record uses this platform yet.

Sources F-195 · F-386 · F-387

Payload 3 kg · Arm load, G1 EDU. The base G1 carries about 2 kg, and the figure varies a lot with arm extension.