** G1 ** Revision History ================ +----------+-------------------+-------------+------------------------------------------------------+ | Revision | Date (DD/MM/YYYY) | Author | Changes | +==========+===================+=============+======================================================+ | 1 | 22/4/2025 | Kang Wei | Initial release | +----------+-------------------+-------------+------------------------------------------------------+ 1. Overview =========== .. image:: figures/G1_robot.png :width: 500 px :align: center The G1 is a humanoid robot that stands 130 cm tall and weighs 35 kg. It comes equipped with a LIVOX MID-360 LiDAR and an Intel RealSense D435i depth camera. 2. Specifications ================= 2.1 Technical Specifications ---------------------------- .. list-table:: :header-rows: 1 :widths: 35 30 30 * - Model - G1 - G1-EDU * - Height, Width and Thickness (Stand) - 1320x450x200mm - 1320x450x200mm * - Height, Width and Thickness (Fold) - 690x450x300mm - 690x450x300mm * - Weight (With Battery) - About 35kg - About 35kg * - Total Degrees of Freedom (Joint Freedom) - 23 - 23~43 * - Single Leg Degrees of Freedom - 6 - 6 * - Waist Degrees of Freedom - 1 - 1+ (Optional 2 additional waist degrees of freedom) * - Single Arm Degrees of Freedom - 5 - 5 * - Single Hand Degrees of Freedom - / - 7 (Optional Force control of three-fingered hand) + 2 (Optional 2 additional wrist degrees of freedom) * - Joint Output Bearing - Industrial grade crossed roller bearings (high precision, high load capacity) - Industrial grade crossed roller bearings (high precision, high load capacity) * - Joint Motor - Low inertia high-speed internal rotor PMSM (better response speed and heat dissipation) - Low inertia high-speed internal rotor PMSM (better response speed and heat dissipation) * - Maximum Torque of Knee Joint [1] - 90N.m - 120N.m * - Arm Maximum Load [2] - About 2Kg - About 3Kg * - Calf + Thigh Length - 0.6M - 0.6M * - Arm Span - About 0.45M - About 0.45M * - Extra Large Joint Movement Space - | Waist joint: Z±155° | Knee joint: 0~165° | Hip joint: P±154°, R-30~+170°, Y±158° - | Waist joint: Z±155°, X±45°, Y±30° | Knee joint: 0~165° | Hip joint: P±154°, R-30~+170°, Y±158° | Wrist joint: P±92.5°, Y±92.5° * - Full Joint Hollow Electrical Routing - YES - YES * - Joint Encode - Dual encoder - Dual encoder * - Cooling System - Local air cooling - Local air cooling * - Power Supply - 13 string lithium battery - 13 string lithium battery * - Basic Computing Power - 8-core high-performance CPU - 8-core high-performance CPU * - Sensing Sensor - Depth Camera + 3D LiDAR - Depth Camera + 3D LiDAR * - 4 Microphone Array - YES - YES * - 5W Speaker - YES - YES * - WiFi 6, Bluetooth 5.2 - YES - YES * - High Computing Power Module - / - NVIDIA Jetson Orin * - Smart Battery (Quick Release) - 9000mAh - 9000mAh * - Charger - 54V 5A - 54V 5A * - Manual Controller - YES - YES * - Battery Life - About 2h - About 2h * - Upgraded Intelligent OTA - YES - YES * - Secondary Development [3] - / - YES 2.2 Electrical Interfaces ------------------------- .. image:: figures/G1_electrical_interfaces.jpg :width: 400 px :align: center .. list-table:: :header-rows: 1 :widths: 5 20 25 50 * - No. - Connector Name - Interface Description for short - Interface specification * - 1 - XT30UPB-F - VBAT - 58V/5A Battery power output (directly connected to battery power here) * - 2 - XT30UPB-F - 24V - 24V/5A power output * - 3 - XT30UPB-F - 12V - 12V/5A power output * - 4 - RJ45 - 1000 BASE-T - GbE (gigabit Ethernet) * - 5 - RJ45 - 1000 BASE-T - GbE (gigabit Ethernet) * - 6 - Type-C - Type-C - Support USB3.0 host, 5V/1.5A power output * - 7 - Type-C - Type-C - Support USB3.0 host, 5V/1.5A power output * - 8 - Type-C - Type-C - Support USB3.0 host, 5V/1.5A power output * - 9 - Type-C - Alt Mode Type-C - Supports USB3.2 host and DP1.4 * - 10 - 5577 - I/O OUT - 12V: 12V/3A power output See the following table for GPIO details .. image:: figures/G1_electrical_interfaces_gpio.jpg :width: 400 px :align: center .. list-table:: :header-rows: 1 :widths: 10 15 30 30 * - GPIO Number - NX Pin Number - Multiplexing Relationship - Pin name of the debugfs file system * - GPIO1 - 203 - UART1_TXD - GPIO3_PR.02 * - GPIO2 - 205 - UART1_RXD - GPIO3_PR.03 * - GPIO3 - 232 - I2C2_SCL - GPIO3_PI.03 * - GPIO4 - 234 - I2C2_SDA - GPIO3_PI.04 * - GPIO5 - 128 - GPIO - GPIO3_PCC.02 * - GPIO6 - 130 - GPIO - GPIO3_PCC.03 .. note:: There are many ways to operate NVIDIA GPIO, refer to this `link `_ for the definition. 2.3 On-board Computer --------------------- G1 Edu has 2 onboard computers: - Operation & Control computing unit (Not accessible to public) - IP: 192.168.123.161 - User development computing unit - IP: 192.168.123.164 - Username: unitree - Password: Unitree0408 .. list-table:: :header-rows: 1 :widths: 30 70 * - Parameter - Development Computing Unit * - Model - Jetson Orin NX * - CPU - Arm® Cortex®-A78AE * - Number of cores - 8 * - Number of threads - 8 * - Max largest rate - 2 GHz * - Graphic memory - 16G * - Memory - 16G * - Cache - 2MB L2 + 4MB L3 * - Storage - 2T * - Intel® Image Processing Unit - No * - GPU - 1024 NVIDIA Ampere architecture GPUs with 32 Tensor cores * - Maximum dynamic frequency of graphics card - 918 MHz * - Gaussian and Neuro Accelerator - 3.0 * - Intel® Deep Learning Promotion - Yes * - Intel® Adaptix™ Technology - Yes * - Intel® Hyperthreading Technology - Yes * - Instructions set - 64bit * - OpenGL - 4.6 * - OpenCL - 3.0 * - DirectX - 12.1 3. Resources ============ Basic Guides ------------ * G1 Manual: `Unitree `_ * Training Slides: `G1 Basic Training `_ Development ----------- * SDK Support: `unitree_sdk2 `_ * ROS2 Support: `unitree_ros2 `_