Unitree R1 ========== .. The provided tutorial will assist you with understanding, setting up, and operating the Unitree R1 humanoid robot. .. The tutorial topics are listed in the left column and presented in the recommended reading order. .. image:: media/gifs/r1_boxing_1.webp :alt: H1 Robot :width: 100% :class: mbsrounded The **Unitree R1** is an ultra-lightweight, fully customizable humanoid robot designed to accelerate the adoption of humanoid robots in real-world applications. With agile mobility, open control interfaces, and seamless integration with large multimodal models, the R1 serves as an ideal platform for research, development, education, and experimentation. Its compact form factor, high responsiveness, and modular design make it suitable for both algorithm development and embodied AI exploration. .. meta:: :description: Explore the official documentation for the Unitree R1 humanoid robot. Learn about setup, operation, specifications, and model variants including R1 AIR, R1, and R1 EDU. :keywords: humanoid robotics, Unitree R1, robotics documentation, humanoid robot tutorial, R1 EDU, robotics research platform, embodied AI, robot documentation Agile Mobility and High Degrees of Freedom `````````````````````````````````````````` The Unitree R1 features a flexible mechanical structure with 20 to 26+ degrees of freedom, enabling agile and expressive movement across a wide range of scenarios. Each leg is equipped with 6 degrees of freedom, ensuring stable locomotion and adaptability on complex terrain. The inclusion of a 2-DOF waist and 2-DOF head (on supported models) enhances balance, motion coordination, and environmental perception. This kinematic design allows the R1 to prioritize movement as the foundation for task execution, supporting both dynamic locomotion and upper-body manipulation. .. image:: media/gifs/r1_frontflip_2.webp :alt: H1 Robot :width: 100% :class: mbsrounded | Multimodal Intelligence and Perception `````````````````````````````````````` The R1 is integrated with a **large multimodal model**, enabling combined understanding of **voice, audio, and visual input**. Equipped with binocular or monocular cameras (model-dependent), a **4-microphone array**, and stereo speakers, the robot is capable of natural interaction, perception-driven decision-making, and immersive human–robot communication. The 2-DOF head further improves situational awareness by allowing active visual exploration of the environment. .. .. image:: media/gifs/g1_ai.gif .. :alt: H1 Robot .. :width: 100% .. :class: mbsrounded .. | Open Control and Developer-Friendly Design `````````````````````````````````````````` Designed as an intelligent pioneer platform, the Unitree R1 provides fully open control interfaces for joints and sensors. It supports mainstream simulation environments, enabling algorithms developed in simulation to transition seamlessly into real-world deployment. This openness makes the R1 particularly suitable for: - Robotics research and education - Embodied AI and reinforcement learning - Motion control and whole-body coordination - Human–robot interaction experiments .. .. image:: media/gifs/g1_hand.gif .. :alt: H1 Robot .. :width: 100% .. :class: mbsrounded .. | Customization and Expandability ``````````````````````````````` The R1 supports **user-customizable exterior finishes** and modular hardware expansion. Selected models can be equipped with high-performance computing modules, including **NVIDIA Jetson Orin**, delivering up to **100 TOPS** of AI computing power. Quick-release smart batteries, OTA upgrades, and optional dexterous hands further enhance flexibility and long-term usability. .. .. image:: media/gifs/g1_unifolm.gif .. :alt: H1 Robot .. :width: 100% .. :class: mbsrounded .. | Model Variants & Specs ====================== .. image:: media/figures/unitree-r1.webp :width: 100% :alt: Unitree R1 Humanoid Robot - Next Generation Robotics | .. Overview .. ======== The **Unitree R1** represents a breakthrough in humanoid robotics, combining cutting-edge AI capabilities with robust mechanical engineering. Available in three distinct configurations, the R1 series caters to diverse use cases—from consumer applications to advanced research and development. .. .. list-table:: .. :widths: 33 33 34 .. :header-rows: 0 .. * - .. image:: media/figures/unitree-r1~3.webp .. :width: 100% .. :align: center .. - .. image:: media/figures/unitree-r1~4.webp .. :width: 100% .. :align: center .. - .. image:: media/figures/unitree-r1~5.webp .. :width: 100% .. :align: center .. | Model Lineup ```````````` .. +---------------------+----------------------------+----------------------------+----------------------------+ .. | | **R1 AIR** | **R1** | **R1 EDU** | .. +=====================+============================+============================+============================+ .. | **Target Audience** | Entry-level consumers | Advanced users | Research & Education | .. +---------------------+----------------------------+----------------------------+----------------------------+ .. | **Price** | $4,900 | $5,900 | Contact Sales | .. +---------------------+----------------------------+----------------------------+----------------------------+ .. | **Highlights** | Lightweight, affordable | Full-featured binocular | Maximum customization, | .. | | monocular vision system | perception, enhanced DOF | extended warranty, SDK | .. +---------------------+----------------------------+----------------------------+----------------------------+ .. | .. image:: media/gifs/r1_hardware.webp :width: 100% :alt: R1 Internal Hardware Architecture | .. Detailed Specifications .. ======================= Mechanical Dimensions --------------------- +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | **Parameter** | **R1 AIR** | **R1** | **R1 EDU** | +===========================================+============================+============================+============================+ | Height x Width x Depth (Standing) | 1230 x 357 x 190 mm | 1230 x 357 x 190 mm | 1230 x 357 x 190 mm | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Total Weight (Incl. Battery) | ~25 kg | ~29 kg | ~29 kg | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Total Degrees of Freedom | 20 | 26 | 26–40 | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Single Leg DOF | 6 | 6 | 6 | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Single Arm DOF | 4 | 5 | 5 | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Waist DOF | — | 2 | 2 | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Head DOF | — | 2 | 2 | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Dexterous Hand | — | — | Optional | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Joint Output Bearing | Crossed Roller Bearings, | Crossed Roller Bearings, | Crossed Roller Bearings, | | | Double Hook Ball Bearings | Double Hook Ball Bearings | Double Hook Ball Bearings | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Joint Motor | Low-inertia, high-speed internal rotor PMSM with permanent magnet | | | synchronous motor; optimized for rapid response and thermal dissipation | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Maximum Arm Payload :sup:`[1]` | ~2 kg | ~2 kg | ~2 kg | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Calf + Thigh Length | 600 mm | 600 mm | 600 mm | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Forearm + Upper Arm Length | 420 mm | 420 mm | 420 mm | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Joint Articulation Range ------------------------ .. list-table:: :widths: 40 20 20 20 :header-rows: 1 * - **Joint Movement Space** - **R1 AIR** - **R1** - **R1 EDU** * - Knee Joint - -10° ~ +139° - -10° ~ +139° - -10° ~ +139° * - Hip Joint: Yaw (Y) - ±157° - ±157° - ±157° * - Hip Joint: Pitch (P) - -168° ~ +146° - -168° ~ +146° - -168° ~ +146° * - Hip Joint: Roll (R) - -60° ~ +100° - -60° ~ +100° - -60° ~ +100° * - Waist Joint: Yaw (Y) - — - ±150° - ±150° * - Waist Joint: Roll (R) - — - ±30° - ±30° | .. image:: media/gifs/r1_slope.webp :width: 100% :alt: R1 Traversing Inclined Terrain | Electrical Characteristics -------------------------- +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | **Parameter** | **R1 AIR** | **R1** | **R1 EDU** | +===========================================+============================+============================+============================+ | Electrical Routing | Hollow + Internal Routing | Hollow + Internal Routing | Hollow + Internal Routing | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Joint Encoder | Dual + Single Encoder | Dual + Single Encoder | Dual + Single Encoder | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Thermal Management | Localized Air Cooling | Localized Air Cooling | Localized Air Cooling | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Power Supply | Lithium Battery | Lithium Battery | Lithium Battery | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Base Computing Unit | 8-Core High-Performance CPU | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Microphone Array | 4-Mic Array | 4-Mic Array | 4-Mic Array | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Integrated Speaker | Yes | Yes | Yes | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Wireless Connectivity | WiFi 6 + Bluetooth 5.2 | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Vision System | Monocular Camera | Binocular Camera | Binocular Camera | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | .. image:: media/gifs/r1_fall_recovery.webp :width: 100% :alt: R1 Fall Recovery .. Perception & Intelligence .. ------------------------- .. .. list-table:: .. :widths: 50 50 .. :header-rows: 0 .. * - .. image:: media/gifs/r1_fall_recovery.webp .. :width: 100% .. :alt: R1 Autonomous Fall Recovery .. .. - **Adaptive AI Capabilities** .. The R1 series features advanced perception systems enabling: .. - Real-time environmental mapping .. - Autonomous fall detection and recovery .. - Dynamic obstacle avoidance .. - Terrain adaptation algorithms | Accessories & Expansion ----------------------- +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | **Component** | **R1 AIR** | **R1** | **R1 EDU** | +===========================================+============================+============================+============================+ | High-Power Computing Module | / | / | NVIDIA Jetson Orin | | | | | (40–100 TOPS) :sup:`[2]` | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Smart Battery (Quick Release) | Yes | Yes | Yes | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Charger Included | Yes | Yes | Yes | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Manual Controller | Yes | Yes | Yes | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Performance & Support --------------------- +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | **Parameter** | **R1 AIR** | **R1** | **R1 EDU** | +===========================================+============================+============================+============================+ | Battery Runtime | ~1 hour | ~1 hour | ~1 hour | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Intelligent OTA Upgrade | Yes | Yes | Yes | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | Secondary Development :sup:`[2]` | / | / | Yes | +-------------------------------------------+----------------------------+----------------------------+----------------------------+ | .. Dynamic Capabilities .. ==================== .. - .. image:: media/gifs/r1_boxing_1.webp .. :width: 100% .. :alt: R1 Dynamic Motion Capabilities .. .. list-table:: .. :widths: 33 33 34 .. :header-rows: 0 .. * - .. image:: media/gifs/r1_frontflip_1.webp .. :width: 100% .. :alt: R1 Frontflip Sequence 1 .. - .. image:: media/gifs/r1_frontflip_2.webp .. :width: 100% .. :alt: R1 Frontflip Sequence 2 .. - .. image:: media/gifs/r1_frontflip_3.webp .. :width: 100% .. :alt: R1 Frontflip Sequence 3 .. .. *R1 demonstrating advanced acrobatic maneuvers through AI-driven motion planning* .. | .. Notes & Disclaimers .. =================== :sup:`[1]` **Arm Payload Variability:** The maximum load capacity of the manipulator arm varies significantly depending on the arm's extension posture and configuration. :sup:`[2]` **Development Documentation:** For comprehensive secondary development guidelines, please consult the official SDK and development manual. .. warning:: **Safety Notice:** The humanoid robot features a sophisticated mechanical structure with substantial power output. Operators must maintain adequate safety clearance from the robot during operation. Exercise appropriate caution at all times. **Civilian Use Only:** This product is designed exclusively for civilian applications. Users are strictly prohibited from implementing hazardous modifications or deploying the robot in dangerous operational contexts. .. note:: **Product Appearance:** Final product appearance may differ from images shown. Please reference the actual delivered product. **Feature Availability:** Certain capabilities demonstrated on this page remain under active development and testing. These features will be released to users in subsequent updates. **Industry Context:** The global humanoid robotics sector is currently in early-stage development. Individual consumers are strongly encouraged to thoroughly understand the current limitations of humanoid robots prior to purchase. .. **Legal Compliance:** For complete terms, policies, and regulatory information, .. please visit the `Unitree Robotics Official Website `_. Users must .. comply with all applicable local laws and regulations. | .. image:: media/gifs/r1_boxing_2.webp :width: 100% :alt: R1 Precision Motion Control | .. toctree:: :hidden: :caption: QRE R1 Overview r1_overview .. .. toctree:: .. :hidden: .. :caption: Preparation .. preparation .. toctree:: :hidden: :caption: Operation operation .. operation_1.2 .. operation_1.4 .. toctree:: :hidden: :caption: SDK r1_sdk .. .. toctree:: .. :hidden: .. :caption: QRE G1 ROS Drivers .. g1_ros2_driver .. toctree:: :hidden: :caption: Getting Help getting_help getting_involved faq