The Unitree G1-D is an adjustable dual-arm humanoid platform for manipulation research, data collection and embodied AI development. It uses a lifting column rather than walking legs. The Standard and Ultimate configurations differ in chassis mobility.

Design and Mechanical Specifications

Both configurations have seven degrees of freedom per arm and two at the waist. Standard has 17 total degrees of freedom and Ultimate has 19, excluding end effectors. The lifting column adjusts overall height from 1,260 to 1,680 mm. Unitree lists an approximate 3 kg maximum payload per arm, dependent on arm position.

Vision and End Effectors

Both configurations have one head-mounted HD binocular camera and two wrist-mounted HD cameras. Optional end effectors include a two-finger gripper, three-finger dexterous hands with or without tactile sensing, and a five-finger dexterous hand. Wi-Fi 6 and Bluetooth 5.2 are supported.

Base and Runtime

Unitree lists no powered chassis drive for Standard. Ultimate has a differential-drive base with 360-degree in-place rotation, a maximum mobility speed of 1.5 m/s, one LiDAR, two depth cameras, two physical collision sensors and two low-obstacle detection sensors. Approximate battery life is 2 hours for Standard and 6 hours for Ultimate.

Data and Training Platform

Unitree describes a data pipeline for task creation, acquisition, annotation, review, storage and export, plus tools for model training, inference, simulation and deployment. An eight-core CPU is standard; optional higher-performance computing modules include Orin NX 16GB configurations. Software and supplied accessories depend on the selected package.