Unitree G1 Humanoid Robot

Total degrees of freedom (joint degrees of freedom): 23

Single leg degrees of freedom: 6

Waist degrees of freedom: 1

Single arm degrees of freedom: 5

Maximum knee joint torque: 90N･m

Maximum arm load: 2kg

Calf + thigh length: 0.6m

Wingspan: 0.45m

Large joint space

Waist joint: Z ± 155°

Knee: 0 to 165°

Hip: P ±1540, R -30 to +170°, Y ±158°

All connectors are hollow wire: Yes

Composite encoder: Dual encoder

Cooling system: Local air cooling

Power supply: 13 lithium batteries

Basic computing power: 8-core high-performance CPU

Sensors: Depth camera + 3D LiDAR

4-microphone array: Yes

5W speaker: Yes

WiFi 6, Bluetooth 5.2: Yes

Smart battery (quick release): 9000mAh

Charger: 54V 5A

Hand controller: Yes

Battery life: Approx. 2 hours

Smart OTA upgrade: Yes

Weight (including battery): 35kg