Model
|
G1 Base
|
G1 EDU-U1
|
G1 EDU-U2
|
G1 EDU-U3
|
G1 EDU-U4
|
Height, Width, and Depth (Standing)
|
1270x450x200mm
|
1270x450x200mm
|
1270x450x200mm
|
1270x450x200mm
|
1270x450x200mm
|
Height, Width, and Depth (Folded) |
690x450x300mm |
690x450x300mm |
690x450x300mm |
690x450x300mm |
690x450x300mm |
Weight (with Battery) |
Approx. 35kg |
Approx. 35kg+ |
Approx. 35kg+ |
Approx. 35kg+ |
Approx. 35kg+ |
Total Degrees of Freedom (Joints) |
23 |
23 - 43 |
23 - 43 |
23 - 43 |
23 - 43 |
Degrees of Freedom of a Leg |
6 |
6 |
6 |
6 |
6 |
Degrees of Freedom of the Waist |
1 |
1+(Optional 2 additional degrees of freedom of the waist) |
1+(Optional 2 additional degrees of freedom of the waist) |
3 |
3 |
Degrees of Freedom of an Arm |
5 |
5 |
5 |
7 |
7 |
Degrees of Freedom of a Hand |
/ |
7 (Optional force control of the three-fingered hand) + 2 (Optional 2 additional wrist degrees of freedom) |
7 (Optional force control of the three-fingered hand) + 2 (Optional 2 additional wrist degrees of freedom) |
7 (Optional force control of the three-fingered hand) + 2 (Optional 2 additional wrist degrees of freedom) (Unitree Dex3-1 force-controlled three-fingered dexterous hand) |
Maximum Torque of the Knee Joint |
90N.m |
120N.m |
120N.m |
120N.m |
120N.m |
Maximum Load of the Arm |
Approx. 2kg |
Approx. 3kg |
Approx. 3kg |
Approx. 3kg |
Approx. 3kg |
Shin + Thigh Length |
0.6m |
0.6m |
0.6m |
0.6m |
0.6m |
Arm Length |
Approx. 0.45m |
Approx. 0.45m |
Extra large joint movement range |
Waist Z-axis joint: ±155°
Knee joint: 0~165°
Hip joint: P ±154°, R -30~+170°, Y ±158° |
Waist Z-axis joint: ±155°
Knee joint: 0~165°
Hip joint: P ±154°, R -30~+170°, Y ±158° |
Waist Z-axis joint: ±155°
Knee joint: 0~165°
Hip joint: P ±154°, R -30~+170°, Y ±158° |
Waist Z-axis joint: ±155°
Knee joint: 0~165°
Hip joint: P ±154°, R -30~+170°, Y ±158° |
Waist Z-axis joint: ±155°
Knee joint: 0~165°
Hip joint: P ±154°, R -30~+170°, Y ±158° |
Electrical Properties |
|
|
High electrical routing of joints |
YES |
YES |
YES |
YES |
YES |
Joint Encoder |
Dual Encoder |
Dual Encoder |
Dual Encoder |
Dual Encoder |
Dual Encoder |
Cooling System |
Local Air Cooling |
Local Air Cooling |
Local Air Cooling |
Local Air Cooling |
Local Air Cooling |
Power Supply |
13-String Lithium Battery |
13-String Lithium Battery |
13-String Lithium Battery |
13-String Lithium Battery |
13-String Lithium Battery |
Basic Computing Power |
8-Core High-Performance CPU |
8-Core High-Performance CPU |
8-Core High-Performance CPU |
8-Core High-Performance CPU |
8-Core High-Performance CPU |
Sensor System |
Depth Camera + 3D LiDAR |
Depth Camera + 3D LiDAR |
Depth Camera + 3D LiDAR |
Depth Camera + 3D LiDAR |
Depth Camera + 3D LiDAR |
WiFi 6, Bluetooth 5.2 |
YES |
YES |
YES |
YES |
YES |
Accessories |
|
|
High-Performance Computing Module |
/ |
NVIDIA Jetson Orin Nano 40 Tops |
NVIDIA Jetson Orin NX Expansion Dock 100 Tops |
NVIDIA Jetson Orin NX Expansion Dock 100 Tops |
NVIDIA Jetson Orin NX Expansion Dock 100 Tops |
Intelligent Battery (Quick Release) |
9000mAh |
9000mAh |
9000mAh |
9000mAh |
9000mAh |
Charger |
54V 5A |
54V 5A |
54V 5A |
54V 5A |
54V 5A |
Manual Control |
YES |
YES |
YES |
YES |
YES |
Miscellaneous |
|
|
Programmable |
NO, controlled via a remote controller |
YES |
YES |
YES |
YES |
Battery life |
Approx. 2h |
Approx. 2h |
Approx. 2h |
Approx. 2h |
Approx. 2h |
Enhanced Intelligent OTA |
YES |
YES |
YES |
YES |
YES |
Programmable |
NO, control via a remote controller |
YES |
YES |
YES |
YES |
Battery Life |
Approx. 2h |
Approx. 2h |
Approx. 2h |
Approx. 2h |
Approx. 2h |
Improved Intelligent OTA |
YES |
YES |
YES |
YES |
YES |
Secondary Development |
/ |
YES |
YES |
YES |
YES |