HumanoidUnitree Robotics2023CN

Unitree H1

Name: Unitree H1
Brand: Unitree Robotics

Full-size electric humanoid from Unitree with 5-DOF-per-leg design, known for a 3.3 m/s humanoid walking-speed record.

activeBuyL2 Sim-verifiednot buildable

Difficulty index

9.8/13

9.8

Index breakdown
Class	humanoid	+5
Cost	unknown · midpoint	+1.5
DOF	23 DOF	+2.3
Parts	unknown · midpoint	+1

How the index works

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

humanoidrobots.systems/unitree/h1 ↗
Full spec sheet and comparisons
humanoidrobot.build/unitree/h1
Closed hardware. Buy link only.
humanoidrobots.training/unitree/h1 ↗
Simulate and train policies

Specimen photographs

5 items

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_h1 (BSD-3-Clause) · Hyperspawn render · source
Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from mujoco_menagerie/unitree_h1 (BSD-3-Clause) · Hyperspawn render · source
4 s turntable of the MJCF studio render.Rendered by Hyperspawn from mujoco_menagerie/unitree_h1 (BSD-3-Clause) · Hyperspawn render · source
Introducing Unitree H1: Its First General-purpose Humanoid Robot| Embodied AI Price below $90kUnitree Robotics · official video, embedded · source
Unitree H1 Breaking humanoid robot speed world record [full-size humanoid] Evolution V3.0Unitree Robotics · official video, embedded · source

Spec card

8/13 known

Degrees of freedom: 23
Height: 180 cm
Mass: 47 kg
Speed: 3.3 m/s
Battery: 864 Wh
Actuators: Unitree in-house electric joint motors
Compute: Intel Core i5 standard; i7 or Jetson Orin NX optional
Sensors: 3D LiDAR, depth camera

Not in the registry: payload, runtime, price, bom total, part count. Left blank rather than guessed.

What you learn building it

+Whole-body controlclass: humanoid
+Dozens of actuators on one busclass: humanoid
+Balance and fall handlingclass: humanoid
+Safe bring-up of a full-size machineclass: humanoid
+Testing in simulation (URDF/MJCF) before touching hardwareopenness
+Running published learned policiesopenness

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 ↗

Site Docs

Build it

Closed hardware. Buy link only.

humanoidrobot.build/unitree/h1 · 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.

NoteSDK/sim/RL code are BSD-3 open source; hardware proprietary. unitree_rl_gym ships pre-trained locomotion policies for g1, h1 and h1_2. Sibling H1-2 is a heavier, longer-armed variant.

Sources

[1]Unitree H1 product pagechecked 2026-09-24
[2]unitree_ros URDFschecked 2026-09-24