About

Description

Fixed-Base Dual-Arm Humanoid Platform

Unitree G1-D Standard A U1 Humanoid Robot

The Unitree G1-D Standard A U1 is a fixed-base dual-arm humanoid robot designed for advanced research and light industrial applications.

With a total of 19 degrees of freedom, including dual 7-DoF arms, waist articulation, an adjustable lifting column, and dual Dex1-1 grippers, the platform offers flexible, human-like motion precision.

19 DOF Total degrees of freedom including the two grippers

100 TOPS NVIDIA Jetson Orin 16G computing power

3 kg Maximum payload supported by each arm

2 m Approximate maximum operating height

Robot Architecture

Dual 7-DoF Arms and Adjustable Working Height

The robot combines two articulated arms, a two-degree-of-freedom waist, a height-adjustable lifting column, and two Dex1-1 Advanced Edition grippers.

17 DOF Excluding End Effectors

The base robot provides 17 degrees of freedom: 7×2 arm joints, 2 waist joints, and 1 lifting-column joint.

19 Total DOF

Two additional gripper joints increase the total configuration to 19 degrees of freedom.

3 kg Arm Payload

Each robotic arm supports a maximum payload of approximately 3 kg

0.45 m Arm Reach

Each arm provides an approximate reach of 0.45 m

1260–1680 mm Height

The adjustable column changes the robot height from approximately 1260 mm to 1680 mm

Approx. 2 m Working Height

The maximum operating height is approximately 2 meters

Lifting and Waist System

Precise Vertical and Waist Articulation

500 mm Lifting Stroke

The height-adjustable column provides a 500 mm vertical lifting stroke.

1 mm Lifting Accuracy

The lifting system provides positioning accuracy of 1 mm.

Maximum 60 mm/s Speed

The lifting column moves at a maximum speed of 60 mm/s.

2-DoF Waist

The waist movement range is Z ±155° and Y −2.5° to +135°.

Dex1-1 Grippers

Two Advanced Edition Force-Controlled Grippers

The Unitree G1-D Standard A U1 includes two Dex1-1 Gripper Advanced Edition end effectors.

90 mm Stroke

Each gripper provides a maximum opening stroke of 90 mm

5–120 N Clamping Force

The clamping force is adjustable from 5 N to 120 N

0.1 mm Position Resolution

Gripper tip position resolution is 0.1 mm

20 kg Conformal Load

The conformal gripping load is rated at 20 kg

5 kg Friction Load

The friction-based gripping load is rated at 5 kg

0.24 s Closing Time

Minimum full-stroke closing time is 0.24 seconds

Computing Platform

Local AI Computing with NVIDIA Jetson Orin

The robot combines an eight-core high-performance CPU with an NVIDIA Jetson Orin 16G computing module.

NVIDIA Jetson Orin 16G

The high-performance computing module provides 100 TOPS of computing power.

8-Core CPU

Base computing power is provided by an 8-core high-performance CPU.

Secondary Development

Full secondary development support is included.

Visualization Computer

A visualization computer is included with the robot.

Multi-Sensor Perception

Binocular Head Vision and Dual Wrist Cameras

3840 × 1200 Head Camera

The head-mounted high-definition binocular camera provides a resolution of 3840 × 1200

Head Camera Field of View

Horizontal: 115°; vertical: 80°; diagonal: 125°.

Dual 1920 × 1080 Wrist Cameras

Two wrist-mounted high-definition cameras provide a resolution of 1920 × 1080

Wrist Camera Field of View

Horizontal: 130°; vertical: 60°; diagonal: 160°.

Multiple Sensing Sensors

The robot is equipped with multiple sensing sensors.

Localized Air Cooling

The robot uses a localized air-cooling system.

Power and Connectivity

Smart Battery and Direct Power Support

9000 mAh Smart Battery

The robot uses a 9000 mAh quick-release smart battery.

2 Hours of Runtime

Battery runtime is approximately 2 hours.

Battery or Direct Power

The robot supports battery operation or a direct power cable connection.

54 V 5 A Charger

A 54 V 5 A charger is included.

Wi-Fi 6 and Bluetooth 5.2

Wi-Fi 6 and Bluetooth 5.2 connectivity are supported.

Audio System

The robot includes a four-microphone array and a 5 W speaker.

Technical Data

Unitree G1-D Standard A U1 Technical Overview

Model	Unitree G1-D Standard A U1
Platform Type	Fixed-base dual-arm humanoid robot
Minimum Dimensions	Approx. 1260 × 500 × 500 mm
Maximum Dimensions	Approx. 1680 × 500 × 500 mm
Weight with Battery	Approx. 50 kg
DOF Excluding End Effectors	17: 7×2 arms, 2 waist joints, and 1 column joint
Total Degrees of Freedom	19: 7×2 arms, 2 waist, 1 column, and 1×2 grippers
Single Arm DOF	7, excluding the end effector
Maximum Arm Payload	Approx. 3 kg
Arm Reach	Approx. 0.45 m, excluding the end effector
Waist DOF	2
Waist Movement Range	Z ±155°; Y −2.5° to +135°
Lifting Stroke	500 mm
Lifting Accuracy	1 mm
Lifting Speed	Max. 60 mm/s
Maximum Operating Height	Approx. 2 m
Cooling System	Localized air cooling
Power Supply	Battery-powered or direct power cable connection
Battery	9000 mAh quick-release smart battery
Battery Runtime	2 hours
Charger	54 V 5 A
Base Computing Power	8-core high-performance CPU
Computing Module	NVIDIA Jetson Orin 16G, 100 TOPS
Head Camera	1× HD binocular camera, 3840 × 1200
Head Camera FOV	H: 115°; V: 80°; D: 125°
Wrist Cameras	2× HD cameras, 1920 × 1080
Wrist Camera FOV	H: 130°; V: 60°; D: 160°
Audio	Four-microphone array and 5 W speaker
Connectivity	Wi-Fi 6 and Bluetooth 5.2
Handheld Remote Controller	Included
Visualization Computer	Included
Smart OTA Updates	Supported
Secondary Development	Supported

Gripper Specifications

Dex1-1 Gripper Advanced Edition

Quantity	2
Dimensions	143 × 78 × 67 mm
Weight	550 g
Stroke	90 mm
Position Resolution at Tip	0.1 mm
Clamping Force	Adjustable from 5 to 120 N
Conformal Gripping Load	20 kg
Friction Gripping Load	5 kg
Minimum Full-Stroke Closing Time	0.24 s
Gripper Length	80 mm
Communication Protocol	High-Speed 485

12-Month Warranty

The Unitree G1-D Standard A U1 is backed by a 12-month warranty.