Unitree G1-D Humanoid Robot Comparison & Buyer’s Guide

Comprehensive G1-D Robot Comparison

How to choose the right G1-D humanoid platform for research, development, and applied AI projects

What is Unitree’s G1-D?

The Unitree G1-D is a cutting-edge humanoid (torso) robot platform designed for research, AI development, robotics education, manipulation, and real-world interaction testing. Unlike the Unitree G1 humanoid, which has two functional legs, the G1-D’s design incorporates Unitree’s G1 upper torso and replaces the legs with either a fixed-base (“Standard” version) or mobile AGV motorized wheeled base (“Ultimate” version).

• A full humanoid upper body with articulated arms and torso
• Multiple end-effector options for precise grasping and manipulation
• Modular extendability for data collection, AI training, and VR teleoperation
• Standardized RobotShop support for purchase and after-sales services
• Open sample code base

G1-D Comparison Table / Core Specs

Model	Standard (EDU-U1 to U5)	Ultimate (EDU-U6 to U10)
Mechanical Specification
Min. Column Height	1260x500x500mm	1260x525x570mm
Max. Column Heigh	1680x500x500mm	1680x525x570mm
Total Weight (incl. battery)	Approx. 50kg	Approx. 80kg
Total DOF (excl. End Effector)	17	19
Single Arm DOF (excl. End Effector)	7	7
Max. Single Arm Payload【1】	Approx. 3kg	Approx. 3kg
Waist DOF	2	2
Waist Joint Range of Motion	Z-axis: ±155°, Y-axis: -2.5° to +135°	Z-axis: ±155°, Y-axis: -2.5° to +135°
Column Lifting Speed	Approx. 60mm/s	Approx. 60mm/s
Column Lifting Accuracy	1mm	1mm
Column Stroke	500mm	500mm
Maximum operating height	Approx. 2m	Approx. 2m
Electronic Parameters
Secondary development(s)	✓	✓
Computing Power	NVIDIA Jetson Orin 16G (100 TOPS computing power)	NVIDIA Jetson Orin 16G (100 TOPS computing power)
Perception Sensor	Multi-Sensor Perception System Head-Mounted High-Definition Binocular Camera*1 “FOV: H:115° V:80° D:125°; Resolution: 3840×1200”	Multi-Sensor Perception System Head-Mounted High-Definition Binocular Camera*1 “FOV: H:115° V:80° D:125°; Resolution: 3840×1200”
VR Remote Operation	Sold separately	Sold separately
Chassis (base)
Chassis Type	Fixed	AGV Autonomous Ground Vehicle
Chassis Dimensions	─	570*525*197mm
Chassis DoF	─	2
Chassis Drive Type	─	Differential Drive
Chassis Movement Speed	─	1.5m/s
Chassis Power	─	Battery-powered (30Ah) or Charging station-powered
Chassis Battery Life	─	6 hours
Chassis Charging	─	51V 10A

Hand Model	Dex1-1 V2	Dex3-1 (no feedback)	Dex3-1 (w/ feedback)	BrainCo 5 finger Revo 2 Basic	BrainCo 5 finger Revo 2 Tactile
G1-D Standard	RB-Unt-278 G1-D-U1	RB-Unt-279 G1-D-U2	RB-Unt-280 G1-D-U3	RB-Unt-281 G1-D-U4	RB-Unt-282 G1-D-U5
G1-D Ultimate	RB-Unt-283 G1-D-U6	RB-Unt-284 G1-D-U7	RB-Unt-285 G1-D-U8	RB-Unt-286 G1-D-U9	RB-Unt-287 G1-D-U10
Specification
Fingers per hand	2	3	3	5	5
Degrees of freedom per hand (Total)	2	7	7	6	6
Force Controlled	X	✓	✓	X	✓
Tactile Sensors	X	X	✓	X	Includes Haptic Sensing: Pressure, Friction, Direction, etc.
Wrist Camera	Wrist-Mounted High-Definition Camera*2: FOV: H:130° V:60° D:160° Resolution: 1920×1080	Wrist-Mounted High-Definition Camera*2: FOV: H:130° V:60° D:160° Resolution: 1920×1080	Wrist-Mounted High-Definition Camera*2: FOV: H:130° V:60° D:160° Resolution: 1920×1080	Wrist-Mounted High-Definition Camera*2: FOV: H:130° V:60° D:160° Resolution: 1920×1080	Wrist-Mounted High-Definition Camera*2: FOV: H:130° V:60° D:160° Resolution: 1920×1080

Key Differences Between Models

Hands & End Effector Options

• Dex1-1: Two-finger gripper.
• Dex3-1: Three-finger with or without tactile feedback.
• Revo 2: Advanced options with or without feedback & force control.

Use Cases & Applications