Unitree G1

Overview:

• 27 to 43 DoFs depending on using 3 fingered hands & waist unlocked
• 2 DOFs of the 3 DOFs of the waist can be locked
• Swappable hands (dummy or DEX 3-1 hands with 7 DOFs)
• 3 kg of payload for an arm
• Torque controlled with transparent actuators (low reduction ratios)
• Embedded sensors : 1x 3D Lidars, RGB camera, 2x IMUs
• Embedded computational power : 8-core CPU + NVIDIA Jetson Orin (both internal)
• Swappable battery with long autonomy (~2/3h)
• Wireless E-stop

Main usages:

• Retargetting
• Model predictive control
• Whole body control

Current status: Usable