Unitree H1

Unitree RoboticsHumanoid robotAnnounced 15 AUG 2023

Unitree H1 is a humanoid robot from Unitree Robotics, officially released on 15 August 2023 as the company's first full-size general-purpose humanoid. It stands about 180 cm tall and weighs about 47 kg, with 5 leg-joint DOF per leg and 4 (expandable) arm-joint DOF per arm, a maximum knee torque of about 360 N·m, and a published moving speed of 3.3 m/s (described by Unitree as a world record) with potential mobility above 5 m/s. H1-2 is a higher-DOF variant on the same product page: about 178 cm tall, about 70 kg, 27 total degrees of freedom (6 leg DOF and 7 arm DOF per side), an optional Dex5-1 dexterous hand, and a published moving speed under 2 m/s. Unitree publishes a C++ and Python SDK, ROS 2 packages, Gazebo and MuJoCo simulation models, and Isaac Gym/Isaac Lab reinforcement-learning environments naming H1 and H1-2 explicitly, plus a teleoperation and imitation-learning data-collection toolkit (xr_teleoperate) supporting both.

EDITORIALOverview reviewed against the cited sources by WBH, 29 SEP 2026.

HEIGHT: ~1.8 mH1, standing
WEIGHT: ~47 kgH1
DOF: 27H1-2
PAYLOAD: ~21 kg peakH1-2, arm peak

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Last verified28 SEP 202627 sources

DATA · 26 FIELDS

Specifications

Official source
Community measured
Not published

PHYSICAL
Height	~1.8 m (H1) · ~1.78 m (H1-2)Published as 'about 180CM'	Official source [1]
Key dimensions	(1520+285) mm × 570 mm × 220 mm (H1) · (1503+285) mm × 510 mm × 287 mm (H1-2)Published as-is in the parameter table; Unitree does not label what the two summed figures represent.	Official source [1]
Weight	~47 kg (H1) · ~70 kg (H1-2)	Official source [1]
Degrees of freedom	not published (H1) · 27 (H1-2)Only per-limb DOF are published for base H1 (5 per leg, 4 per arm, expandable); no total DOF figure is given, unlike H1-2.	Official source [1]
Leg DOF	5 per leg (H1) · 6 per leg (H1-2)Hip × 3, Knee × 1, Ankle × 1	Official source [1]
Arm DOF	4 per arm (expandable) (H1) · 7 per arm (H1-2)Shoulder x 3, Elbow x 1, Wrist x 3	Official source [1]
Locomotion	BipedalTwo legs, each with hip/knee/ankle joints	Official source [1]
Walking speed	3.3 m/s (published as a world record) (H1) · < 2 m/s (H1-2)Published as a world record on the parameter table. A 2026 timeline entry reports a 10 m/s running record (see discrepancies).	Official source [1]
Ingress protection	Not published	Not published

JOINTS & ACTUATION
Max joint torque	360 N·m (knee) (H1) · 360 N·m (knee) (H1-2)Also published: Hip Joint ~220 N·m, Ankle ~59 N·m, Arm Joint ~75 N·m	Official source [1]
Arm joint torque (peak)	not published (H1) · Shoulder ~120 N·m; Elbow ~120 N·m; Wrist ~30 N·m (H1-2)Table shows '/' for H1 under 'Arm joint performance (peak torque)'	Official source [1]
Joint actuator (M107)	Unitree M107 joint motor (360 N·m, 1.9 kg, ratio 189)Unitree compares M107 against two third-party motors (T-1, T-2) in the same table on the H1 page.	Official source [1]
Joint motor	Low inertia high-speed internal-rotor PMSMPermanent magnet synchronous motor	Official source [1]
Joint output bearings	Industrial grade crossed roller bearingsHigh precision, high load capacity	Official source [1]

POWER
Battery	15 Ah (0.864 kWh), quick-releaseSame value published for H1 and H1-2	Official source [1]
Battery life	Not publishedUnlike G1/H2/R1, the H1 page does not state a battery-life figure in hours.	Not published
Charging time	Not published	Not published

COMPUTE & SENSING
Compute	Intel Core i5/i7; optional Orin NX (H1) · Intel Core i5/i7; optional Orin NX (up to 3 devices) (H1-2)	Official source [1]
Perception sensors	3D LiDAR + Depth CameraSame for H1 and H1-2	Official source [1]
Connectivity	Not publishedUnlike the G1, H2 and R1 parameter tables, the H1/H1-2 table has no WiFi/Bluetooth row.	Not published

HANDS & PAYLOAD
End effector	Optional dexterous hand (H1) · Optional Dex5-1 or other ambidextrous hands (H1-2)	Official source [1]
Arm payload	not published (H1) · ~21 kg peak (H1-2)Table shows '/' for H1 under 'Arm normal load'	Official source [1]

AVAILABILITY & PRICE
Indicative price	Not publishedNo price is shown on the H1 product page or the order form, unlike G1 ($13.5K), H2 ($29,900) and R1 ($4,900+).	Not published
Availability	Available to order (contact sales)The order form routes industry purchases to a sales contact rather than showing a price or buy button for H1/H1-2.	Official source [2][3]
Warranty	Not publishedUnlike G1/H2/R1, the H1 page has no Warranty Period row.	Not published
Secondary development	Not publishedUnlike G1/H2/R1, the H1 page has no Secondary Development row (an official SDK and ROS 2 support exist regardless; see software).	Not published

DATA · SOFTWARE & SIMULATION

Development

INTERFACE	SUPPORT	PACKAGE / VERSION	SRC
SDK	Official	unitree_sdk2 (C++, latest release v2.0.2): example/h1 (high_level, low_level: h1_27dof_example.cpp for H1, h1_2_ankle_track.cpp for H1-2's parallel-ankle PR mode). unitree_sdk2_python: example/h1 (high_level, low_level) and example/h1_2/low_level.	[4][5][6][7][8]
ROS 2	Official	unitree_ros2: DDS-based low-level control confirmed for H1 in the top-level README; example tree has a dedicated h1-2 low-level example and shared read_low_state_hg example for G1/H1/H1-2.	[9][10]
Isaac Sim / Lab	Official	unitree_rl_lab (Isaac Lab 2.3.0 / Isaac Sim 5.1.0): dedicated h1 locomotion task folder, official support statement names Go2, H1 and G1-29dof. unitree_rl_gym (Isaac Gym): h1 and h1_2 tasks, with Sim2Sim/Sim2Real deployment. NVIDIA's own Isaac Lab (third-party) additionally ships public Isaac-Velocity-Flat/Rough-H1-v0 environments and an H1_CFG asset.	[19][20][21][22][23]
MuJoCo	Official	unitree_mujoco ships MJCF for both h1 and h1_2 (with DDS idl notes: H1 uses unitree_go, H1-2 uses unitree_hg); unitree_rl_gym documents Sim2Sim (MuJoCo) for h1 and h1_2. MuJoCo Menagerie (third-party, Google DeepMind) additionally provides a derived 19-joint H1 model under BSD-3-Clause.	[15][16][18][19][24]
Gazebo	Official	h1_description ships a gazebo.launch file (H1 only); no Gazebo launch files are listed for h1_2_description.	[11]
URDF / MJCF	Official	unitree_ros: h1_description (h1.urdf, h1_with_hand.urdf, MJCF) and h1_2_description (h1_2.urdf, h1_2_handless.urdf, h1_2_with_FTP_hand.urdf, MJCF).	[11][12][13]
Teleoperation	Official	xr_teleoperate: --arm supports H1 (4-DoF arm) and H1_2 (7-DoF arm); records episodes for imitation learning.	[26]
Languages	Official	C++ and Python (unitree_sdk2, unitree_sdk2_python). unitree_sdk2_rs (same GitHub org, v0.3.0) additionally lists Rust RPC clients per model including h1.	[4][7][27]

TIMELINE · 1 EVENT SINCE 15 AUG 2023

Latest updates

Full timeline

04 SEP 2026unitree_sdk2_rs 0.3.0 adds Rust RPC clients for eight Unitree robotsRELEASE · GITHUB · OFFICIAL