Unitree H1

Key dimensions

(1520+285)mm × 570mm × 220mm

(1503+285)mm × 510mm × 287mm

Length of thigh and calf

400mm × 2

400mm × 2

Total length of arm

338mm × 2

685mm

Degree of freedom of single leg

5 (hip joint × 3 + knee joint × 1 + ankle joint × 1)

6 (hip joint × 3 + knee joint × 1 + ankle joint × 2)

Degree of freedom of single arm

4 (expandable)

7 (shoulder joint × 3 + elbow joint × 1 + wrist joint × 3)

Weight of the whole machine

About 47kg

About 70kg

Joint output bearing

Industrial grade cross roller bearing (high precision, high load capacity)

Industrial grade cross roller bearing (high precision, high load capacity)

Core joint motor

Low inertia high speed inner rotor permanent magnet synchronous motor

(better response speed and heat dissipation)

Low inertia high speed inner rotor permanent magnet synchronous motor

(better response speed and heat dissipation)

Joint unit limit torque

Knee joint about 360N.m, hip joint about 220N.m,

Ankle joint about 59N.m, arm joint about 75N.m

Knee joint about 360N.m, hip joint about 220N.m,

Waist joint about 220N.m, ankle joint about 75 × 2N.m

Movement ability

Movement speed 3.3m/s (world record),

Potential movement performance＞5m/s

Movement speed ＜ 2m/s

Battery

Capacity 15Ah (0.864KWh), maximum voltage 67.2V

Capacity 15Ah (0.864KWh), maximum voltage 67.2V

Control and perception computing power

Standard: Intel Core i5 (platform function) Intel Core i7 (user development)

Optional: Intel Core i7 or Nvidia Jetson Orin NX

Standard: Intel Core i5 (platform function) Intel Core i7 (user development)

Optional: Intel Core i7 or Nvidia Jetson Orin NX (up to three)

Perception sensor configuration

3D LiDAR + Depth Camera

3D LiDAR + Depth camera

Dexterous hand

Optional

RH56 or other dexterous hands are optional

Arm joint performance

(peak torque)

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Shoulder: about 120N.m, elbow: about 120N.m

Wrist: about 30N.m

Regular arm load

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Peak: about 21Kg; Rated: about 7Kg

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