Unitree G1 Repair Help: Learn How to Fix It Yourself.

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Author: Jacob Mehnert (and one other contributor)

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The Unitree G1 is a comparatively low-cost, bipedal humanoid robot designed and manufactured by the Chinese robotics company Unitree Robotics. The G1 was announced in 2024 as a sucessor to Unitree's H1 humanoid robot, and acts as a direct competitor to Tesla's huminoid robot Optimus. The G1 is capable of executing full body movements, but is also able to preform fine motor movements.

Articulation: 23 Total Dof
Height: 37.8 in
Weight: 77.16 lb (35 kg)
Avalable Colors: White primary w/ black secondary
Cost: $13.5K USD

Height (Standing): 1320 mm
Width (Standing): 450 mm
Thickness (Standing): 200 mm

Height (Folded): 690 mm
Width (Folded): 450 mm
Thickness (Folded): 300 mm

Calf + Thigh Length: 23.62 in (0.6 m)
Arm Span: 17.72 in (0.45 m)

Weight (w/ Battery): 77.16 lb (35 kg)
Weight (wo/ Battery): 69.45 lb (31.5 kg)

Total DoF (Plus Hand): 23 DoF
Leg: 6 DoF per Leg
Waist: 1 DoF
Arm: 5 DoF per Arm
Hand: 12: per Hand
Extra Large Joint Movement Space
- Waist Joint: Z ± 155°
- Knee Joint: 0 ~ 165°
- Hip Joint: P ± 145°, R - 30 ~+ 170°, Y ± 158°

Joint Output Bearing: Industrial grade crossed roller bearing (High percision, high load capacity)
Joint Motor: Low inertia high-speed internal rotor PMSM (permanent magnet synchronous motor)
Max Torque of Knee Joint: 90 N.m
Max Arm Load: ≤ 2kg