About G1

Note

Unitree humanoid robot development and use of warm tips:

Since the general public prefer to move more closely and naturally, the following attention to the use of humanoid robots, especially when shooting robot video:

1. Developed leg movement procedures to bring the knee to upright or upright as far as possible;
2. Reduce the stride frequency as much as possible, and avoid standing still as far as possible;
3. Keep your feet slightly closer, and avoid leaving your feet away as much as possible when walking;

we hope the above content will help you.

Note

Important Note on Video Crediting Suggestions

Dear Developer, We recommend that when publishing your research outcomes in video format, you add the name or logo (Logo) of your laboratory in a prominent position throughout the video. This will prevent confusion about the actual source of the video as it circulates among the general public. Thank you for your support of Unitree Technology.

Part name

G1 whole machine is divided into upper body and lower body, with multiple degrees of freedom. A single arm has five degrees of freedom, including the shoulder, upper arm, and elbow joints. One leg has six degrees of freedom, including the hip, leg, hip, knee, and ankle joints. The waist has 1 degree of freedom, namely the lumbar joint. According to different versions, the whole machine can be divided into G1 basic version (23 degrees of freedom), G1-EDU version (23~43 degrees of freedom), by multiple joint motor degrees of freedom, so that the robot can achieve accurate motion and attitude control.

type	G1	G1-EDU
Total Degrees of Freedom (Joint Freedom）	23	23~43
Single Leg Degrees of Freedom	6	6
Waist Degrees of Freedom	1	1+ (Optional 2 additional waist degrees of freedom)
Single Arm Degrees of Freedom	5	5
Single Hand Degrees of Freedom	/	7(Optional Force outrolled three-fingered dexterous hand Dex3-1) +2(Optional 2 additional wrist degrees of freedom)
Component Description

Dex3-1

Three-fingered dexterous hand Dex3-1 Electrical Parameter
Rendering image
Operating voltage	12-58V
Range of Perception	10g-2500g
Degrees of freedom	Total degrees of freedom: 7    1.The thumb has 3 active degrees of freedom;    2.the index finger has 2 active degrees of freedom;    3.the middle finger has 2 active degrees of freedom.
Angle of Joint	Thumb: 0°+100°, -35°+60°, -60°+60°; Index Finger and Middle Finger: 0°+90°, 0°~+100°.
Number of Array Sensors	9

Note

Dexterous Hand Usage Tips

When using the dexterous hand, always ensure that the robot’s movements do not cause interference between the hand and the main body. You can add some outward offset to the shoulder motors to avoid collisions between the dexterous hand and the body. During development, it is not recommended to perform overly intense actions, such as running or balance tests, while the dexterous hand is attached.

Installation hole position: unit: mm

If you need to use the G1 mounting hole, please remove the label on the hole first.

Electrical Interface

The right side of the G1 is equipped with electrical interfaces, which are used to connect the various body joint motors, sensor peripherals, network ports, etc. This design makes it easy to debug, troubleshoot problems, and do secondary development.

No.	Connector Name	Interface Description for short	Interface specification
1	XT30UPB-F	VBAT	58V/5A Battery power output (directly connected to battery power here)
2	XT30UPB-F	24V	24V/5A power output
3	XT30UPB-F	12V	12V/5A power output
4	RJ45	1000 BASE-T	GbE(gigabit Ethernet)
5	RJ45	1000 BASE-T	GbE(gigabit Ethernet)
6	Type-C	Type-C	Support USB3.0 host, 5V/1.5A power output
7	Type-C	Type-C	Support USB3.0 host, 5V/1.5A power output
8	Type-C	Type-C	Support USB3.0 host, 5V/1.5A power output
9	Type-C	Alt Mode Type-C	Supports USB3.2 host and DP1.4
10	5577	I/O OUT	12V: 12V/3A power output See the following table for GPIO details

GPIO Number	NX Pin Number	Multiplexing Relationship	Pin name of the debugfs file system
GPIO1	203	UART1_TXD	GPIO3_PR.02
GPIO2	205	UART1_RXD	GPIO3_PR.03
GPIO3	232	I2C2_SCL	GPIO3_PI.03
GPIO4	234	I2C2_SDA	GPIO3_PI.04
GPIO5	128	GPIO	GPIO3_PCC.02
GPIO6	130	GPIO	GPIO3_PCC.03

Note

note：

There are many ways to operate NVIDIA GPIO, and the definition of NVIDIA GPIO can refer to the following link: https://docs.nvidia.com/jetson/archives/r35.2.1/DeveloperGuide/text/HR/JetsonModuleAdaptationAndBringUp/JetsonOrinNxSeries.html#identifying-the-gpio-number

Debugging interface

The Ethernet debugging interface of the operation control computing unit and the Ethernet debugging interface of the development computing unit are the same, and the line sequence is as follows:

PIN	Pin Description	RJ45 Line Sequence
1	0P	Orange and White
2	0N	Orange
3	1P	Green and White
4	1N	Green
5	2P	Blue and White
6	2N	Blue
7	3P	Brown White
8	3N	Brown

On-board computer

G1-EDU onboard standard with 1 operation and control computing unit, and one development computing unit.

parameter	development computing unit (PC 2)
Model	Jetson Orin NX
CPU	Arm® Cortex®-A78AE
Number of cores	8
Number of threads	8
Max largest rate	2 GHz
graphic memory Memory	16G
Memory	16G
Cache	2MB L2 + 4MB L3
Storage	2T
Intel ® Image Processing Unit	No
GPU	1024 NVIDIA Ampere architecture Gpus with 32 Tensor cores
Maximum dynamic frequency of graphics card	918MHz
Gaussian and Neuro Accelerator	3.0
Intel ® deep learning promotion	Yes
Intel ®Adaptix™ Technology	Yes
Intel ® hyperthreading technology	Yes
Instructions set	64bit
OpenGL	4.6
OpenCL	3.0
DirectX	12.1
IP address	192.168.123.164

• Transportation and control computing unit is dedicated to Unitree motion control program and not open to the public. Developers can only use the development computing unit for secondary development. Initial user name:unitree password: 123
• In the table, PC2 [Development Computing Unit] has an IP address of 192.168.123.164.
• CPU modules may ship to a more advanced version with no less than the above performance.
• Unitree does not deploy services on the NVIDIA Jetson Orin module.

Field of view of G1 radar and camera

The G1 head is equipped with LIVOX-MID360 laser radar, which provides excellent environmental perception capabilities for robots.Lidar adopts omnidirectional and full-angle scanning technology, with a FOV level of up to 360° and a maximum vertical angle of 59°, enabling real-time acquisition of accurate environmental data.It can quickly identify and measure surrounding objects, providing high-resolution point cloud data.

The G1 head is equipped with a D435i depth camera, which provides the robot with excellent visual perception capabilities, enabling it to more accurately perceive and understand its surroundings, achieve precise spatial perception and obstacle detection, and enable the robot to interact with the environment and respond to various scenarios more intelligently and flexibly.

Joint motor

The G1 joint adopts Unitree self-developed motor, which has excellent performance and characteristics. The maximum torque of the motor is 120N.m, and the design of the hollow axis makes the motor more lightweight and compact in structure. The motor is also equipped with dual encoders to provide more accurate position and velocity feedback to meet the needs of high precision control.

Joint serial number and joint limit

Joint Index	Joint Name	limit(rad)
0	L_LEG_HIP_PITCH	-2.5307~2.8798
1	L_LEG_HIP_ROLL	-0.5236~2.9671
2	L_LEG_HIP_YAW	-2.7576~2.7576
3	L_LEG_KNEE	-0.087267~2.8798
4	L_LEG_ANKLE_PITCH	-0.87267~0.5236
5	L_LEG_ANKLE_ROLL	-0.2618~0.2618
6	R_LEG_HIP_PITCH	-2.5307~2.8798
7	R_LEG_HIP_ROLL	-2.9671~0.5236
8	R_LEG_HIP_YAW	-2.7576~2.7576
9	R_LEG_KNEE	-0.087267~2.8798
10	R_LEG_ANKLE_PITCH	-0.87267~0.5236
11	R_LEG_ANKLE_ROLL	-0.2618~0.2618
12	WAIST_YAW	-2.618~2.618
13	WAIST_ROLL	-0.52~0.52
14	WAIST_PITCH	-0.52~0.52
15	L_SHOULDER_PITCH	-3.0892~2.6704
16	L_SHOULDER_ROLL	-1.5882~2.2515
17	L_SHOULDER_YAW	-2.618~2.618
18	L_ELBOW	-1.0472~2.0944
19	L_WRIST_ROLL	-1.972222054~1.972222054
20	L_WRIST_PITCH	-1.614429558~1.614429558
21	L_WRIST_YAW	-1.614429558~1.614429558
22	R_SHOULDER_PITCH	-3.0892~2.6704
23	R_SHOULDER_ROLL	-2.2515~1.5882
24	R_SHOULDER_YAW	-2.618~2.618
25	R_ELBOW	-1.0472~2.0944
26	R_WRIST_ROLL	-1.972222054~1.972222054
27	R_WRIST_PITCH	-1.614429558~1.614429558
28	R_WRIST_YAW	-1.614429558~1.614429558

Coordinate system, joint rotation axis and joint zero point

When all joints are zero, each coordinate system is as follows. Red is the X-axis, green is the Y-axis, and blue is the z-axis.

23 dof	29dof

Robot specifications

model	G1	G1-EDU
Height, Width and Thickness (Stand)	1320x450x200mm	1320x450x200mm
Height, Width and Thickness (Fold)	690x450x300mm	690x450x300mm
Weight (With Battery)	About 35kg	About 35kg
Total Degrees of Freedom (Joint Freedom）	23	23~43
Single Leg Degrees of Freedom	6	6
Waist Degrees of Freedom	1	1+ (Optional 2 additional waist degrees of freedom)
Single Arm Degrees of Freedom	5	5
Single Hand Degrees of Freedom	/	7（Optional Force control of three-fingered hand）+2(Optional 2 additional wrist degrees of freedom)
Joint output bearing	Industrial grade crossed roller bearings (high precision, high load capacity)	Industrial grade crossed roller bearings (high precision, high load capacity)
Joint motor	Low inertia high-speed internal rotor PMSM(permanent magnet synchronous motor,better response speed and heat dissipation)	Low inertia high-speed internal rotor PMSM(permanent magnet synchronous motor,better response speed and heat dissipation)
Maximum Torque of Knee Joint[1]	90N.m	120N.m
Arm Maximum Load[2]	About 2Kg	About 3Kg
Calf + Thigh Length	0.6M	0.6M
Arm Span	About 0.45M	About.45M
Extra Large Joint Movement Space	Waist joint：Z±155° Knee joint：0165° Hip joint：P±154°、R-30+170°、Y±158°	Waist joint：Z±155°、X±45°、Y±30° Knee joint：0165° Hip joint：P±154°、R-30+170°、Y±158° Wrist joint：P±92.5°、Y±92.5°
Full Joint Hollow Electrical Routing	YES	YES
Joint Encode	Dual encoder	Dual encoder
Cooling System	Local air cooling	Local air cooling
Power Supply	13 string lithium battery	13 string lithium battery
Basic Computing Power	8-core high-performance CPU	8-core high-performance CPU
Sensing Sensor	Depth Camera+3D LiDAR	Depth Camera+3D LiDAR
4 Microphone Array	YES	YES
5W Speaker	YES	YES
WiFi 6 、Bluetooth 5.2	YES	YES
High Computing Power Module	/	NVIDIA Jetson Orin
Smart Battery (Quick Release)	9000mAh	9000mAh
Charger	54V 5A	54V 5A
Manual Controller	YES	YES
Battery Life	About 2h	About 2h
Upgraded Intelligent OTA	YES	YES
Secondary Development[3]	/	YES

Note

Note

[1] The maximum torque of the joint motors of the whole machine is different. This is the maximum torque of the largest joint motor among them. [2] The maximum load of the arm varies greatly under different arm extension postures. [3] For more information, please read the secondary development manual. [4] For more detailed warranty terms, please read the product warranty brochure. [5] The above parameters may vary in different scenarios and configurations, please subject to actual situation. [6] The humanoid robot has a complex structure and extremely powerful power. Users are asked to keep a sufficient safe distance between the humanoid robot and the humanoid robot.Please use with caution [7] If any change in the appearance of the product, please refer to the actual product. [8] This product is a civilian robot. We kindly request that all users refrain from making any dangerous modifications or using the robot in a hazardous manner. [9] Please visit Unitree Robotics Website for more related terms and policies, and comply with local laws and regulations.      

Thor Backpack Specifications

Attribute	Specification
Core Module	Jetson T5000
Core Performance (FP4)	2070 TFLOPS
GPU	2560-core NVIDIA Blackwell architecture GPU, equipped with 96 fifth-gen Tensor Cores
CPU	14-core Arm® Neoverse®-V3AE 64-bit CPU
Unified Memory	128GB 256-bit LPDDR5X
Storage	1TB
Peak Power Consumption	130W
USB Port Configuration	Type-A 3.2 * 2 Type-C 3.1 *2
Operating System	Jetson Linux 38.2.1 (Ubuntu-based)
Jetpack	Jetpack 7

Note

Thor Backpack

This accessory is based on the Jetson Thor, delivering powerful computing performance to support deploying large models with high computational demands.
“Unified memory” refers to the portion of memory shared simultaneously by the GPU and CPU.
For inquiries, please contact the sales team for purchasing assistance.