Hardware Architecture & Degrees of Freedom (DOF)
The G1 series is offered in different variants:
- G1 Air: 23 Degrees of Freedom (DOF)
- G1 Standard: 29 DOF
- G1 EDU: 23 - 43 DOF (Customizable structure)
The EDU version is equipped with high-torque motors that provide higher precision in wrist and finger joints.
- G1 Air: 23 Degrees of Freedom (DOF)
- G1 Standard: 29 DOF
- G1 EDU: 23 - 43 DOF (Customizable structure)
The EDU version is equipped with high-torque motors that provide higher precision in wrist and finger joints.
Dex3-1 Three-Fingered Dexterous Hand
The optional Dex3-1 hand found in G1-EDU models is designed for complex object manipulation.
| Parameter | Description |
|---|---|
| DOF | 7 (Independently controllable) |
| Communication | Lemo (6-pin) specialized interface |
| Tendon System | Hybrid mechanical transmission |
Electrical and Digital Interfaces
Ports for the robot to communicate with the outside world are located on the body for developers:
- USB-C: High-speed data transfer and debugging.
- DC Port: External power supply and charging.
- Ethernet (RJ45): 1000Mbps high-speed local network communication.
- Extension Port: Additional sensor integration via GPIO, UART and I2C lines.
- USB-C: High-speed data transfer and debugging.
- DC Port: External power supply and charging.
- Ethernet (RJ45): 1000Mbps high-speed local network communication.
- Extension Port: Additional sensor integration via GPIO, UART and I2C lines.
Computing Module: NVIDIA Jetson Orin NX
Unitree G1-EDU comes standard with a high-performance NVIDIA Jetson Orin NX (16GB) module. Offering 100 TOPS of AI processing capability, this unit can run real-time motion planning and visual perception models locally.
Supported Software: Ubuntu 22.04 LTS, ROS2 Humble, Python SDK, and C++ API.
Supported Software: Ubuntu 22.04 LTS, ROS2 Humble, Python SDK, and C++ API.
Vision and Perception (LiDAR & Camera)
The robot's environmental awareness is provided by sensors manufactured by Unitree:
- Unitree XB1 (3D LiDAR): 360-degree horizontal field of view.
- Depth Camera: AI-based object recognition and depth mapping.
- IMU: High-precision 6-axis inertial measurement unit.
- Unitree XB1 (3D LiDAR): 360-degree horizontal field of view.
- Depth Camera: AI-based object recognition and depth mapping.
- IMU: High-precision 6-axis inertial measurement unit.
Joint Motion Limits
G1's advanced mobility is supported by joint limits with wide angle values:
| ID | Joint Name | Limit (Degree) |
|---|---|---|
| 0 | L_Leg_Yaw | -150 / 83 |
| 1 | L_Leg_Pitch | -20 / 20 |
| 2 | L_Leg_Roll | -18 / 38 |
| ... | Torso and Arm joints | Up to +/- 150 degrees |
General System Specifications
| Feature | G1 Air / Standard | G1-EDU |
|---|---|---|
| Weight | ~35-40kg | ~45kg (Full config) |
| Dimensions | 127cm (Standing) | 127cm (Standing) |
| Computing Power | Standard Controller | 100 TOPS (Orin NX) |
Software Development with unitree_sdk2
The G1 is programmed with the official unitree_sdk2 library (C++ and Python): LocoClient walking control, arm joints via arm_sdk and Dex3-1 hand control all run over DDS. For setup, builds, the API matrix and troubleshooting, see our Unitree SDK Guide.