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HumanoidUnitree Robotics2024CN

Unitree G1

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

activeBuyL2 Sim-verifiednot buildable

Difficulty index

10.4/13
10.4
Index breakdown
Classhumanoid+5
Cost$14k list+2.1
DOF23 DOF+2.3
Partsunknown · midpoint+1
How the index works

Top of the ladder. This robot lives on the humanoid domains.

Specimen photographs

7 items
  • Unitree G1 studio render, three-quarter front view
    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) · Hyperspawn render · source
  • Unitree G1 studio render, side view
    Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from mujoco_menagerie/unitree_g1 (BSD-3-Clause) · Hyperspawn render · source
  • 4 s turntable of the MJCF studio render.Rendered by Hyperspawn from mujoco_menagerie/unitree_g1 (BSD-3-Clause) · Hyperspawn render · source
  • Unitree G1 humanoid walking at UAV Expo 2024
    Via Wikimedia Commons (CC0).Sayanesy, via Wikimedia Commons · CC0-1.0 · source
  • Unitree Introducing | Unitree G1 Humanoid Agent | AI Avatar | Price from $16KUnitree Robotics · official video, embedded · source
  • Movement creates intelligence - Unitree's G1 humanoid robot nails the world's first kip-up!😘Unitree Robotics · official video, embedded · source
  • World's First Side-Flipping Humanoid Robot: Unitree G1Unitree Robotics · official video, embedded · source

Spec card

9/13 known
Degrees of freedom
23
Height
132 cm
Mass
35 kg
Payload
2 kg
Runtime
120 min
Price
$14k · Base G1 US$13.5K excl. tax and shipping per unitree.com; G1 EDU (up to 43 DOF, Orin) is contact-sales.
Actuators
Unitree in-house electric joint motors
Compute
8-core CPU; optional Jetson Orin module (EDU)
Sensors
Depth camera, 3D LiDAR, 4-mic array

Not in the registry: speed, battery, bom total, part count. Left blank rather than guessed.

What you learn building it

  • +Whole-body control
  • +Dozens of actuators on one bus
  • +Balance and fall handling
  • +Safe bring-up of a full-size machine
  • +Testing in simulation (URDF/MJCF) before touching hardware
  • +Running published learned policies

Openness

40/100
  • not publicCAD
  • not publicBOM
  • not publicFirmware
  • publicSim model
  • publicSoftware
  • publicPolicies

Score 40/100 computed from what is public: CAD 25, BOM 20, sim 20, firmware 15, software 10, policies 10. Hardware license: Proprietary. Software license: BSD-3-Clause.

Repos & models

URDF ↗MJCF ↗MuJoCo Menagerie ↗
SiteDocsBuy

Build it

Closed hardware. Buy link only.

humanoidrobot.build/unitree/g1 · Closed hardware. Buy link only.

Simulate

Load it in the browser simulator and train a policy before building.

Open on humanoidrobots.training ↗

Next rung

None. This is the top. Find people building it on humanoidrobots.team.

This is the top of the ladder.

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

Sources

  1. [1]Unitree G1 product pagechecked 2026-09-24
  2. [2]unitree_rl_gymchecked 2026-09-24