Explainers
Unitree G1 vs H1 vs H1-2: humanoid specs compared
Short answer: Unitree sells humanoids in two sizes. The G1 is a compact robot about 1.32 metres tall and about 35 kg, with 23 degrees of freedom in the base model and up to 43 in the G1 EDU. The full-size H1 is about 1.8 metres and 47 kg, and the newer H1-2 is about 1.78 metres and 70 kg with 27 degrees of freedom. All figures below are from Unitree's own product pages.
Unitree G1. Unitree lists the G1 at 1320 x 450 x 200 mm standing, folding to 690 x 450 x 300 mm. Each leg has 6 degrees of freedom, the waist 1 (the EDU can add 2 more), and each arm 5. The EDU adds optional three-fingered Dex3-1 hands with 7 degrees of freedom each, 2 optional extra wrist joints, with tactile sensor arrays as an option. Maximum knee torque is listed as 90 N·m (120 N·m on the EDU) and arm load at about 2 kg (about 3 kg on the EDU). It senses with a depth camera and 3D LiDAR, and runs on an 8-core CPU.
Unitree H1. The H1 is listed at about 180 cm and about 47 kg, with a moving speed of 3.3 m/s, an 864 Wh quickly replaceable battery, peak torque density of 189 N·m/kg and maximum joint torque of 360 N·m.
Unitree H1-2. The H1-2 is about 178 cm and about 70 kg with 27 degrees of freedom in total, four more than the base G1. Unitree lists maximum arm joint torque of 120 N·m and leg joint torque of 360 N·m.
Which is which. The G1 is the cheaper, smaller research and education platform, and the robot most often seen in university demos and competitions. The H series is full human size. Unitree's newer H2 and its published prices are in our price comparison, and battery life in published runtimes. All Unitree coverage is on our Unitree hub.
Reading the numbers. Degrees of freedom count the robot's independently driven joints; more joints usually means more dexterity but more cost and complexity. See degrees of freedom explained.