Class definition
Walking robots (IFR type A2). Arm load is posture-dependent on every Unitree page; the table preserves rated versus peak values where the vendor states them. Dimensions and reach are normalized to millimetres.
Research boundary. LATENT tennis evals use a 29-DoF Unitree G1; results never enter a hardware table. See research systems.
Unitree family — vendor pages
Prices exclude tax and shipping. Dimensions are millimetres. H1 and H1-2 are different robots. Runtime has no duty cycle. H1 / H1-2 publish per-limb DoF only; no whole-robot total is derived.
| Metric | R1 AIR | R1 | G1 | G1 EDU | H1 | H1-2 | H2 |
|---|---|---|---|---|---|---|---|
| Price & warranty | |||||||
| List price# | $4,900 [M1] | $5,900 [M1] | $13.5k / ¥85k [M2] | contact sales [M2] | — | — | $29,900 [M4] |
| Warranty# | 6 mo [M1] | 8 mo [M1] | 8 mo [M2] | 18 mo [M2] | — | — | 8 mo; EDU 12 mo [M4] |
| Envelope & mass | |||||||
| Standing (H × W × T)# | 1230 × 357 × 190 mm [M1] | 1230 × 357 × 190 mm [M1] | 1320 × 450 × 200 mm [M2] | 1320 × 450 × 200 mm [M2] | (1520+285) × 570 × 220 mm [M3] | (1503+285) × 510 × 287 mm [M3] | 1820 × 456 × 218 mm [M4] |
| Folded# | — | — | 690 × 450 × 300 mm [M2] | 690 × 450 × 300 mm [M2] | — | — | — |
| Mass (with battery)# | ~27 kg [M1] | ~29 kg [M1] | ~35 kg [M2] | ~35 kg+ [M2] | ~47 kg [M3] | ~70 kg [M3] | ~70 kg [M4] |
| Degrees of freedom | |||||||
| Total DoF (vendor-listed)# | 20 [M1] | 26 [M1] | 23 [M2] | 23–43 [M2] | not listed as a total [M3] | not listed as a total [M3] | 31 [M4] |
| Head / neck DoF# | — | 2 [M1] | — | — | — | — | 2 [M4] |
| Waist DoF# | — | 2 [M1] | 1 [M2] | 1; +2 optional [M2] | — | published as a joint, not as a count [M3] | 3 [M4] |
| Arm DoF (per arm)# | 4 [M1] | 5 [M1] | 5 [M2] | 5 [M2] | 4, expandable [M3] | 7 (shoulder ×3 + elbow + wrist ×3) [M3] | 7 [M4] |
| Leg DoF (per leg)# | 6 [M1] | 6 [M1] | 6 [M2] | 6 [M2] | 5 (hip ×3 + knee + ankle) [M3] | 6 (hip ×3 + knee + ankle ×2) [M3] | 6 [M4] |
| Hand DoF (per hand)# | — | — | — | 7 optional Dex3-1; +2 optional wrist [M2] | optional hand; count not listed [M3] | optional Dex5-1; count not listed [M3] | EDU only: multiple models; count not listed [M4] |
| Arm load & torque | |||||||
| Arm load# | ~2 kg [M1] | ~2 kg [M1] | ~2 kg [M2] | ~3 kg [M2] | — | peak ~21 kg; rated ~7 kg [M3] | peak ~15 kg; rated ~7 kg [M4] |
| Named-joint torque# | — | — | knee 90 N·m [M2] | knee 120 N·m [M2] | knee ~360, hip ~220, ankle ~59, arm ~75 N·m [M3] | knee ~360, hip ~220, waist ~220, ankle ~75×2 N·m [M3] | arm 120, leg 360 N·m [M4] |
| Reach & speed | |||||||
| Calf + thigh length# | 600 mm [M1] | 600 mm [M1] | 600 mm [M2] | 600 mm [M2] | 400 × 2 mm [M3] | 400 × 2 mm [M3] | 1045 mm [M4] |
| Arm length / span# | forearm + upper arm 420 mm [M1] | forearm + upper arm 420 mm [M1] | span ~450 mm [M2] | span ~450 mm [M2] | total arm 338 × 2 mm [M3] | total arm 685 mm [M3] | forearm + upper arm 690 mm [M4] |
| Speed# | — | — | — | — | 3.3 m/s (claimed record); potential >5 m/s [M3] | <2 m/s [M3] | — |
| Compute & sensors | |||||||
| Onboard SoC# | 8-core [M1] | 8-core [M1] | 8-core [M2] | 8-core [M2] | i5 + i7 [M3] | i5 + i7 [M3] | i5; EDU + i7 [M4] |
| Optional accelerator# | — | — | — | optional Orin [M2] | optional Orin NX [M3] | up to 3× Orin NX [M3] | optional Thor [M4] |
| Stated TOPS# | — | — | — | — | — | — | — |
| 3D LiDAR# | — | — | equipped [M2] | equipped [M2] | equipped [M3] | equipped [M3] | — |
| Depth camera# | — | — | equipped [M2] | equipped [M2] | equipped [M3] | equipped [M3] | — |
| RGB camera# | monocular [M1] | binocular [M1] | — | — | — | — | humanoid binocular, wide FOV [M4] |
| Audio I/O# | 4-mic array + speaker [M1] | 4-mic array + speaker [M1] | 4-mic array + 5 W speaker [M2] | 4-mic array + 5 W speaker [M2] | — | — | array microphone + high-power speaker [M4] |
| Wireless# | Wi-Fi 6, BT 5.2 [M1] | Wi-Fi 6, BT 5.2 [M1] | Wi-Fi 6, BT 5.2 [M2] | Wi-Fi 6, BT 5.2 [M2] | — | — | Wi-Fi 6, BT 5.2 [M4] |
| Battery | |||||||
| Pack# | lithium, quick-release [M1] | lithium, quick-release [M1] | 13-string (13S) lithium, quick-release [M2] | 13-string (13S) lithium, quick-release [M2] | pack not named [M3] | pack not named [M3] | low-internal-resistance lithium, quick-release [M4] |
| Max voltage# | — | — | — | — | 67.2 V [M3] | 67.2 V [M3] | 75.6 V [M4] |
| Capacity# | — | — | 9000 mAh [M2] | 9000 mAh [M2] | 15 Ah [M3] | 15 Ah [M3] | 15 Ah [M4] |
| Energy# | — | — | — | — | 0.864 kWh [M3] | 0.864 kWh [M3] | 0.972 kWh [M4] |
| Charger# | supplied; rating not published [M1] | supplied; rating not published [M1] | 54 V 5 A [M2] | 54 V 5 A [M2] | — | — | supplied; rating not published [M4] |
| Runtime# | ~1 h [M1] | ~1 h [M1] | ~2 h [M2] | ~2 h [M2] | — | — | ~3 h [M4] |
H-series low-level sheet (joints)
Subsystem comparison for H1, H1-2, and H2. Named-joint torque is split rather than collapsed into one unlabeled value.
| Metric | H1 | H1-2 | H2 |
|---|---|---|---|
| Height / mass# | ~1800 mm / ~47 kg [M3] | ~1780 mm / ~70 kg [M3] | 1820 × 456 × 218 mm / ~70 kg [M4] |
| Envelope# | (1520+285) × 570 × 220 mm [M3] | (1503+285) × 510 × 287 mm [M3] | 1820 × 456 × 218 mm [M4] |
| Leg DoF# | 5 (hip ×3 + knee + ankle) [M3] | 6 (hip ×3 + knee + ankle ×2) [M3] | 6 [M4] |
| Arm DoF# | 4, expandable [M3] | 7 (shoulder ×3 + elbow + wrist ×3) [M3] | 7 [M4] |
| Waist / head# | — [M3] | waist within 27 total [M3] | waist 3, head 2 [M4] |
| Total joints# | not listed as a single total [M3] | not listed as a single total [M3] | 31 [M4] |
| Knee / hip / ankle torque# | ~360 / ~220 / ~59 N·m [M3] | knee ~360; waist ~220; ankle ~75×2 N·m [M3] | leg max 360 N·m [M4] |
| Arm torque# | ~75 N·m [M3] | shoulder/elbow ~120; wrist ~30 N·m [M3] | max 120 N·m [M4] |
| Arm load# | — | peak ~21 kg; rated ~7 kg [M3] | peak ~15 kg; rated ~7 kg [M4] |
| Thigh+calf / arm length# | 400×2 / 338×2 mm [M3] | 400×2 / 685 mm [M3] | 1045 / 690 mm [M4] |
| Speed# | 3.3 m/s listed; potential >5 m/s [M3] | <2 m/s [M3] | — |
| Pack capacity# | 15 Ah [M3] | 15 Ah [M3] | 15 Ah [M4] |
| Battery energy# | 0.864 kWh [M3] | 0.864 kWh [M3] | 0.972 kWh [M4] |
| Max voltage# | 67.2 V [M3] | 67.2 V [M3] | 75.6 V [M4] |
| Runtime# | — | — | ~3 h [M4] |
| Sensors# | 3D LiDAR + depth [M3] | 3D LiDAR + depth [M3] | wide-FOV binocular [M4] |
| Onboard SoC# | i5 + i7 [M3] | i5 + i7 [M3] | i5; EDU + i7 [M4] |
| Optional accelerator# | optional Orin NX [M3] | up to 3× Orin NX [M3] | optional Thor [M4] |
| Stated TOPS# | — | — | — |
| Hand# | optional [M3] | opt Dex5-1 or other [M3] | EDU: multiple models [M4] |
R1 / G1 low-level sheet (joints)
R1 and G1 use different arm definitions, so forearm + upper arm length and arm span stay on separate rows. Joint travel is the vendor’s range notation.
| Metric | R1 AIR | R1 | G1 | G1 EDU |
|---|---|---|---|---|
| Envelope & mass | ||||
| Standing (H × W × T)# | 1230 × 357 × 190 mm [M1] | 1230 × 357 × 190 mm [M1] | 1320 × 450 × 200 mm [M2] | 1320 × 450 × 200 mm [M2] |
| Folded# | — | — | 690 × 450 × 300 mm [M2] | 690 × 450 × 300 mm [M2] |
| Mass (with battery)# | ~27 kg [M1] | ~29 kg [M1] | ~35 kg [M2] | ~35 kg+ [M2] |
| Joint counts | ||||
| Leg DoF (per leg)# | 6 [M1] | 6 [M1] | 6 [M2] | 6 [M2] |
| Arm DoF (per arm)# | 4 [M1] | 5 [M1] | 5 [M2] | 5 [M2] |
| Waist DoF# | — | 2 [M1] | 1 [M2] | 1; +2 optional [M2] |
| Head DoF# | — | 2 [M1] | — | — |
| Hand DoF (per hand)# | — | — | — | 7 optional Dex3-1 (thumb 3, index 2, middle 2); +2 optional wrist [M2] |
| Joint travel (vendor ranges) | ||||
| Knee# | −10° to +139° [M1] | −10° to +139° [M1] | 0° to 165° [M2] | 0° to 165° [M2] |
| Hip# | Y ±157°, P −168° to +146°, R −60° to +100° [M1] | Y ±157°, P −168° to +146°, R −60° to +100° [M1] | P ±154°, R −30° to +170°, Y ±158° [M2] | P ±154°, R −30° to +170°, Y ±158° [M2] |
| Waist# | — | Y ±150°, R ±30° [M1] | Z ±155° [M2] | Z ±155°, X ±30°, Y ±30° [M2] |
| Wrist# | — | — | — | P ±92.5°, Y ±92.5° [M2] |
| Torque, load, link length | ||||
| Named-joint torque# | — | — | knee 90 N·m [M2] | knee 120 N·m [M2] |
| Arm load# | ~2 kg [M1] | ~2 kg [M1] | ~2 kg [M2] | ~3 kg [M2] |
| Calf + thigh length# | 600 mm [M1] | 600 mm [M1] | 600 mm [M2] | 600 mm [M2] |
| Forearm + upper arm length# | 420 mm [M1] | 420 mm [M1] | — | — |
| Arm span# | — | — | ~450 mm [M2] | ~450 mm [M2] |
| Actuation & thermal | ||||
| Joint output bearing# | crossed roller + double hook ball [M1] | crossed roller + double hook ball [M1] | industrial crossed roller [M2] | industrial crossed roller [M2] |
| Joint motor# | low-inertia high-speed internal-rotor PMSM [M1] | low-inertia high-speed internal-rotor PMSM [M1] | low-inertia high-speed internal-rotor PMSM [M2] | low-inertia high-speed internal-rotor PMSM [M2] |
| Joint encoder# | dual + single [M1] | dual + single [M1] | dual [M2] | dual [M2] |
| Electrical routing# | hollow + internal [M1] | hollow + internal [M1] | full-joint hollow [M2] | full-joint hollow [M2] |
| Cooling# | local air cooling [M1] | local air cooling [M1] | local air cooling [M2] | local air cooling [M2] |
| Battery | ||||
| Pack# | lithium, quick-release [M1] | lithium, quick-release [M1] | 13-string (13S) lithium, quick-release [M2] | 13-string (13S) lithium, quick-release [M2] |
| Capacity# | — | — | 9000 mAh [M2] | 9000 mAh [M2] |
| Charger# | supplied; rating not published [M1] | supplied; rating not published [M1] | 54 V 5 A [M2] | 54 V 5 A [M2] |
| Runtime# | ~1 h [M1] | ~1 h [M1] | ~2 h [M2] | ~2 h [M2] |
| Compute, sensing, development | ||||
| Onboard SoC# | 8-core [M1] | 8-core [M1] | 8-core [M2] | 8-core [M2] |
| Optional accelerator# | — | — | — | optional Orin [M2] |
| Stated TOPS# | — | — | — | — |
| 3D LiDAR# | — | — | equipped [M2] | equipped [M2] |
| Depth camera# | — | — | equipped [M2] | equipped [M2] |
| RGB camera# | monocular [M1] | binocular [M1] | — | — |
| Secondary development# | not offered on this SKU [M1] | not offered on this SKU [M1] | not offered on this SKU [M2] | supported [M2] |
R1 EDU (26–40 DoF, optional dexterous hand, 12-month warranty, contact sales) [M1] has no column; the family table carries R1 AIR and R1 only.
AgiBot X2 family — vendor product table
X2 and X2 Ultra share envelope and arm reach, not DoF, mass, sensors, or compute.
A2, hands and battery
Not the AgiBot A2 field column. OmniHand / OmniPicker are Ultra-only. Battery follows the product table (≈500 Wh), not AimDK Ultra ≈421 Wh.
| Metric | X2 | X2 Ultra |
|---|---|---|
| Envelope & mass | ||
| Standing (H × W × L)# | 1310 × 460 × 210 mm [M9] | 1310 × 460 × 210 mm [M9] |
| Height# | ≈1.31 m [M9] | ≈1.31 m [M9] |
| Mass# | ≈35 kg [M9] | ≈39 kg [M9] |
| Degrees of freedom | ||
| Total DoF# | 25 [M9] | 30 [M9] |
| Neck# | 0 [M9] | 1 [M9] |
| Arm (per arm)# | 5 [M9] | 7 [M9] |
| Waist# | 3 [M9] | 3 [M9] |
| Leg (per leg)# | 6 [M9] | 6 [M9] |
| Arm load, reach, torque | ||
| Arm reach# | 558 mm, excluding end-effector [M9] | 558 mm, excluding end-effector [M9] |
| Payload (specific posture)# | max 3 kg, excluding end-effector [M9] | max 3 kg, excluding end-effector [M9] |
| Payload (full workspace)# | ≤1 kg, excluding end-effector [M9] | ≤1 kg, excluding end-effector [M9] |
| Peak joint torque# | 120 N·m [M9] | 120 N·m [M9] |
| Speed & environment | ||
| Walking speed# | up to 1.8 m/s; typical ≤0.8 m/s; laboratory ≤2 m/s [M9] | up to 1.8 m/s; typical ≤0.8 m/s; laboratory ≤2 m/s [M9] |
| Operating temperature# | −10 to 40 °C [M9] | −10 to 40 °C [M9] |
| Perception | ||
| 3D LiDAR# | not equipped [M9] | equipped [M9] |
| RGB-D camera# | not equipped [M9] | equipped [M9] |
| RGB camera# | interactive RGB [M9] | interactive RGB + front dual RGB + rear RGB [M9] |
| Head touch sensor# | equipped [M9] | equipped [M9] |
| Energy | ||
| Battery capacity# | ≈500 Wh [M9] | ≈500 Wh [M9] |
| Operating time# | ≈2 h at 0.5 m/s walking [M9] | ≈2 h at 0.5 m/s walking [M9] |
| Power supply# | direct charging; swappable battery [M9] | direct charging; swappable battery; optional auto-charging dock [M9] |
| Charging time# | ≤1.5 h [M9] | ≤1.5 h [M9] |
| Input voltage# | 100–220 V [M9] | 100–220 V [M9] |
| Charger output# | 54.6 V, 10 A [M9] | 54.6 V, 10 A [M9] |
| Compute, I/O, development | ||
| Main compute# | RK3588 ×2 [M9] | RK3588 ×2 [M9] |
| High-performance board# | not equipped [M9] | Orin NX [M9] |
| Stated TOPS# | — | 157 TOPS; precision/mode unpublished [M9] |
| Communication# | Wi-Fi, Bluetooth [M9] | Wi-Fi, Bluetooth, 4G/5G module [M9] |
| USB ports# | Type-A ×1; Type-C ×1 [M9] | Type-A ×2; Type-C ×2 [M9] |
| LAN ports# | — | RJ45 ×2 [M9] |
| Power output# | 12 V / 3 A ×1; 48 V / 5 A ×1 [M9] | 12 V / 3 A ×1; 48 V / 5 A ×1 [M9] |
| Secondary development# | not supported [M9] | supported [M9] |
AimDK Ultra ≈421 Wh [M10] is unused above. Audio I/O and the interactive screen are omitted; they are not comparable mechanical metrics.
Fourier GR-2 — live product page
Live product page; height from 175 cm. DoF and arm load are press-graded from the 2024-09-26 launch note. Live peak torque is 380 N·m and is not collapsed with the unused dead-page 436 N·m.
Evidence boundary. GR1T1 and GR1T2 remain model-only entries. This sheet is GR-2 only. A URDF is not a specification.
| Metric | Fourier GR-2 |
|---|---|
| Envelope & mass | |
| Height# | 1750 mm [M11] |
| Standing envelope (H × W × T)# | — |
| Mass# | 63 kg [M11] |
| Degrees of freedom | |
| Total DoF# | 53 [P1] |
| Dexterous hands# | 12-DoF hands [M11] |
| Neck / arm / waist / leg split# | — |
| Arm load & torque | |
| Single-arm load# | 3 kg [P1] |
| Peak joint torque# | 380 N·m [M11] |
| Speed & energy | |
| Walking speed# | 5 km/h [M11] |
| Battery energy# | — |
| Battery voltage# | — |
| Runtime# | — |
Launch-note 175 cm / 63 kg stay on the product-page marker. The 53-DoF total includes optional 12-DoF hands. Fourier N1 has its own sheet.
Fourier N1 — vendor documentation
The N1 hardware introduction moved to the host Fourier labels its old-version documentation; the former support.fftai.com path returns HTTP 404.
Where the introduction and the parameter table differ, both are printed. Payload is not published. N1 is not GR-2.
| Metric | Fourier N1 |
|---|---|
| Envelope & mass | |
| Height# | 1245 mm in the parameter table; 1.3 m in the introduction and on the product page [M31] [M32] |
| Dimensions# | 1245 × 441 × 202 mm [M31] |
| Arm span# | 1240 mm [M31] |
| Mass# | ≈39 kg in the parameter table; 38 kg in the introduction and on the product page [M31] [M32] |
| Degrees of freedom | |
| Total DoF# | 23 [M31] [M32] |
| Arm / waist / leg split# | 5 per arm; 1 waist; 6 per leg; head none [M31] |
| Peak joint torque# | 144 N·m [M31] |
| Load & motion | |
| Payload# | — |
| Walking speed# | 2.7 km/h [M31] |
| Running speed# | 10.8 km/h in the parameter table; 3.5 m/s measured maximum stable running speed in the introduction and on the product page [M31] [M32] |
| Power | |
| Battery energy# | 475 Wh [M31] |
| Battery mass# | ≤3.2 kg [M31] |
| Runtime# | ≈2 h in the parameter table; over 2 hours per charge on the product page [M31] [M32] |
| Charging time# | ≈3.5 h [M31] |
| Rated power# | ≈460 W [M31] |
| Compute | |
| Processor# | Intel Core i7-13700H; Ubuntu 22.04 [M31] |
UBTECH Walker S2 — live product page
English product page. Height, mass, total DoF and walking speed are printed only inside a specification image on the page; they are entered from that image.
Battery energy and runtime stay —. Walker S1 has no quantitative table.
Evidence boundary. “Mass production and delivery” is a status claim, not a shipment count, and does not enter the Counterpoint H1 2026 rank. The same image prints hand grasp loads (single hand 7.5 kg, finger 1 kg); a hand grasp load is not arm payload and is never added to the 15 kg workspace payload.
| Metric | Walker S2 |
|---|---|
| Envelope & mass | |
| Height# | 176 cm (product-page image) [M12] |
| Mass# | 70 kg (product-page image) [M12] |
| Degrees of freedom | |
| Total DoF# | 52 (product-page image) [M12] |
| Neck / arm / waist / leg split# | — |
| Load, workspace, joints | |
| Payload# | 15 kg, within a 0–1.8 m workspace [M12] |
| Workspace height# | 0–1.8 m [M12] |
| Waist rotation# | ±162° [M12] |
| Whole-body pitch# | 125° [M12] |
| Energy, sensing, status | |
| Battery swap# | autonomous hot-swap, ≤3 min; dual-battery or single-battery modes [M12] |
| Battery energy# | — |
| Runtime# | — |
| Walking speed# | 2 m/s (product-page image) [M12] |
| Vision# | RGB binocular stereo in the head [M12] |
| Product-page status# | mass production and delivery [M12] |
The page also names BrainNet 2.0 and a Co-Agent industrial planner. Those are software labels, not hardware metrics, and are omitted from the table.
Leju Kuavo family — vendor ROS manuals
Totals exclude the end-effector; hand DoF is not added. Walking stays m/s; running stays km/h. Wh is V × Ah. Kuavo 5-W is another form class. The 4.1 table cell “30” conflicts with the 28-row composition; both stay.
| Metric | Kuavo 4.1 | Kuavo 4pro MaxB | Kuavo 5 MaxB |
|---|---|---|---|
| Envelope & mass | |||
| Height# | 1550 mm [M13] | 1660 mm [M14] | 1730 mm [M15] |
| Mass# | 50 kg [M13] | 55 kg [M14] | 63.5 kg [M15] |
| Single-arm length# | 626 mm [M13] | 790 mm [M14] | 790 mm [M15] |
| Degrees of freedom (excluding end-effector) | |||
| Total DoF (excl. EE)# | 28 (composition + 28 named joints); spec table lists 30 [M13] | 28 [M14] | 29 [M15] |
| Head DoF# | 2 [M13] | 2 [M14] | 2 [M15] |
| Waist DoF# | not listed [M13] | not listed [M14] | 1 [M15] |
| Arm DoF (per arm)# | 7 [M13] | 7 [M14] | 7 [M15] |
| Leg DoF (per leg)# | 6 [M13] | 6 [M14] | 6 [M15] |
| Hand configuration (not in body total)# | 1-DoF two-finger gripper standard; 6-DoF hand optional [M13] | 6-DoF tactile dexterous hand standard [M14] | 6-DoF tactile dexterous hand standard [M15] |
| Arm load & joint torque | |||
| Arm payload# | — | — | — |
| Largest named-joint rated torque# | knee / hip roll 40 N·m [M13] | knee / hip roll 40 N·m [M14] | knee 90 N·m [M15] |
| Speed | |||
| Walking speed# | 0.4 m/s [M13] | 0.4 m/s [M14] | 0.4 m/s [M15] |
| Running speed# | — | 5 km/h [M14] | 5 km/h [M15] |
| Energy | |||
| Battery voltage# | 60 V [M13] | 60 V [M14] | 60 V [M15] |
| Battery capacity# | 8 Ah [M13] | 6 Ah [M14] | 6 Ah [M15] |
| Battery energy# | ≈480 Wh (derived: 60 V × 8 Ah) [M13] | ≈360 Wh (derived: 60 V × 6 Ah) [M14] | ≈360 Wh (derived: 60 V × 6 Ah) [M15] |
| Walking runtime# | 1.5 h [M13] | 1 h [M14] | 1 h [M15] |
| Charge time# | ≤1.5 h [M13] | ≤1.5 h [M14] | ≤1.5 h [M15] |
| Cycle life# | ≥500 cycles [M13] | ≥500 cycles [M14] | ≥500 cycles [M15] |
| Perception & compute | |||
| Head camera# | Intel RealSense D435 [M13] | Orbbec Gemini-335L [M14] | Orbbec Gemini-335L [M15] |
| Wrist camera# | — | Intel RealSense D405 ×2 [M14] | Intel RealSense D405 ×2 [M15] |
| LiDAR# | — | Livox Mid-360 [M14] | Livox Mid-360 [M15] |
| Motion computer# | Mofang i9-13900 [M13] | Mofang i9-13900 ×1 [M14] | GENE-MTH6 (Intel Core Ultra 7 255H) [M15] |
| High-performance computer# | NUC12 i7-12700K standard; AGX Orin optional [M13] | AGX Orin ×1 [M14] | AGX Orin ×1 [M15] |
4.1 composition is head 2 + arms 7×2 + legs 6×2 = 28. 5 MaxB adds a waist yaw (±180°, 33 N·m). 4.1 gripper 600 g / 180 N / 22.5 cm is not an arm-payload row.
Booster T1 — live product page
Three SKUs share envelope and battery; DoF and compute diverge. Dimensions from centimetres. Battery energy stays — (voltage unpublished). Hand DoF is not added to the 23-DoF base. K1 is a separate family.
Evidence boundary. RobotShop and Generation Robots also list T1; those pages are resellers and are not used as cells. The SDK and open-source portal are developer documents, not a second hardware sheet.
| Metric | T1 Basic | T1 Standard | T1 Customized |
|---|---|---|---|
| Envelope & mass | |||
| Standing (H × W × T)# | 1180 × 470 × 230 mm [M16] | 1180 × 470 × 230 mm [M16] | 1180 × 470 × 230 mm [M16] |
| Leg length# | 570 mm [M16] | 570 mm [M16] | 570 mm [M16] |
| Arm length# | 450 mm [M16] | 450 mm [M16] | 450 mm [M16] |
| Mass# | ~30 kg [M16] | ~30 kg [M16] | ~30 kg [M16] |
| Degrees of freedom | |||
| Total DoF (base listing)# | 23 [M16] | 23 [M16] | 23 [M16] |
| Total DoF with gripper# | — | 31 [M16] | — |
| Total DoF with dexterous hand# | — | — | 41 [M16] |
| Head DoF# | 2 [M16] | 2 [M16] | 2 [M16] |
| Waist DoF# | 1 [M16] | 1 [M16] | 1 [M16] |
| Arm DoF (per arm)# | 4 (extensible) [M16] | 4 base; 7 with gripper [M16] | 4 base; 7 with dexterous hand [M16] |
| Leg DoF (per leg)# | 6 [M16] | 6 [M16] | 6 [M16] |
| Hand DoF (per hand, optional)# | — | 1 (gripper option) [M16] | 6 (dexterous-hand option) [M16] |
| Actuators, compute, energy | |||
| Peak joint torque# | 130 N·m [M16] | 130 N·m [M16] | 130 N·m [M16] |
| Joint encoder# | dual encoder [M16] | dual encoder [M16] | dual encoder [M16] |
| CPU# | — | Intel i7 1370p [M16] | Intel i7 1370p [M16] |
| GPU# | NVIDIA AGX Orin [M16] | NVIDIA AGX Orin [M16] | NVIDIA AGX Orin [M16] |
| Stated TOPS# | 200 TOPS; precision/mode unpublished [M16] | 200 TOPS; precision/mode unpublished [M16] | 200 TOPS; precision/mode unpublished [M16] |
| Battery capacity# | 10.5 Ah [M16] | 10.5 Ah [M16] | 10.5 Ah [M16] |
| Battery energy# | — | — | — |
| Runtime# | 2 h walking; 4 h standing [M16] | 2 h walking; 4 h standing [M16] | 2 h walking; 4 h standing [M16] |
| Warranty# | 1 year [M16] | 1 year [M16] | 1 year [M16] |
Named sensors and ports are not a second DoF total. SDK: BoosterRobotics/booster_robotics_sdk (ROS 2 / Fast-DDS) [M17].
LimX Oli (CL-3) — live product page
Oli is 165 cm / 31 DoF with a published split. Mass, payload, speed, and battery stay — (unpublished specifications page). CL-3 is this body, not a wheeled dual-arm and not LimX W1.
| Metric | LimX Oli |
|---|---|
| Envelope & mass | |
| Height# | 1650 mm [M18] |
| Mass# | — |
| Degrees of freedom | |
| Total DoF# | 31 [M18] |
| Head DoF# | 2 [M18] |
| Waist DoF# | 3 [M18] |
| Arm DoF (per arm)# | 7 [M18] |
| Leg DoF (per leg)# | 6 [M18] |
| End-effector# | multiple end-effectors available; not added to the 31 [M18] |
| Load, energy, developer notes | |
| Arm payload# | — |
| Runtime# | — |
| Battery# | quick-swap (no V / Ah / Wh on this page) [M18] |
| Perception# | head and chest depth cameras; 6-axis IMU [M18] |
| Stated sim / description support# | complete URDF claimed; Isaac Sim, MuJoCo, Gazebo named [M18] |
A “complete and clear URDF” claim on a marketing page is not a commit-pinned assembly. This landscape does not add an Oli 3D card until a vendor file is pinned and rendered.
Booster K1 — live product page
Geek / Education / Professional share envelope and DoF; battery, runtime, TOPS, Wi-Fi, and warranty diverge. Height from ~95 cm. Battery energy stays — (voltage unpublished). Reseller pages unused. K1 is not T1.
Evidence boundary. The page’s “From $5,999” is a starting list price, not a per-SKU quote. Joint range-of-motion text is recorded in the note, not collapsed into the DoF total.
| Metric | K1 Geek | K1 Education | K1 Professional |
|---|---|---|---|
| Envelope & mass | |||
| Height# | ~950 mm [M19] | ~950 mm [M19] | ~950 mm [M19] |
| Mass# | ~19.5 kg [M19] | ~19.5 kg [M19] | ~19.5 kg [M19] |
| Degrees of freedom | |||
| Total DoF# | 22 [M19] | 22 [M19] | 22 [M19] |
| Head DoF# | 2 [M19] | 2 [M19] | 2 [M19] |
| Arm DoF (per arm)# | 4 [M19] | 4 [M19] | 4 [M19] |
| Leg DoF (per leg)# | 6 [M19] | 6 [M19] | 6 [M19] |
| Actuators, compute, energy | |||
| Peak joint torque# | 60 N·m [M19] | 60 N·m [M19] | 60 N·m [M19] |
| Joint encoder# | dual encoder [M19] | dual encoder [M19] | dual encoder [M19] |
| Stated AI performance# | 48 TOPS (dense) [M19] | 117 TOPS; precision/mode unpublished [M19] | 200 TOPS; precision/mode unpublished [M19] |
| Battery capacity# | 2 Ah [M19] | 5 Ah [M19] | 5 Ah [M19] |
| Battery energy# | — | — | — |
| Runtime# | 30 min walking at 0.4 m/s [M19] | 80 min walking at 0.4 m/s [M19] | 80 min walking at 0.4 m/s [M19] |
| Wi-Fi# | supported (generation unpublished) [M19] | Wi-Fi 6 [M19] | Wi-Fi 6 [M19] |
| Warranty# | 3 months [M19] | 1 year [M19] | 1 year [M19] |
| Listed starting price# | from $5,999 [M19] | from $5,999 [M19] | from $5,999 [M19] |
Sensors, ports, and a Doubao LLM trial are not a second DoF total. Reseller 900 mm or 95 × 40 × 18 cm unused.
PAL Robotics TALOS — vendor product page
Height from 175 cm. Arm payload is fully extended / stretched, not a whole-robot lift. Total DoF stays —. TALOS is not TIAGo and is not in the Unitree field table.
| Metric | TALOS |
|---|---|
| Form# | walking research humanoid [M20] |
| Height# | 1750 mm [M20] |
| Mass# | 95 kg [M20] |
| Total DoF# | — |
| Arm payload# | 6 kg with the arm fully extended / stretched [M20] |
| Battery autonomy# | 1.5 h walking / 3 h stand-by [M20] |
| EtherCAT control loops# | 2 kHz, up to 5 kHz [M20] |
| Torque sensors# | joint torque feedback in all joints except head, wrists, and grippers [M20] |
| Force / torque sensors named in the FAQ# | wrists and ankles, via ros_control [M20] |
| OS / middleware# | Ubuntu LTS, real-time OS; page states fully developed in ROS [M20] |
| URDF claim on the page# | page says the URDF includes CoM, mass, and inertia; no commit-pinned file is assembled here [M20] |
Head and gripper are described as fully customizable. That is not a DoF total. Do not use the ROS wiki as a specification source.
Galbot ET1 / 银河星仔 — live product page
2026-09-03 product block. Standing height is millimetres, not an H × W × T envelope.
Mass, editions and unpublished fields
Mass is with battery. DoF and high-performance compute are edition-split. Payload, speed, battery, runtime, IP, price, SDK, and URDF stay —.
Source boundary. Unused: aggregator 173 cm / 65 kg / 48 DoF; press 1230 mm / 30 kg. Buy Now is not a price or shipment. ET1’s unpublished payload cannot enter the same-definition field comparison.
| Metric | ET1 Standard | ET1 Pro | ET1 Flagship |
|---|---|---|---|
| Envelope & mass | |||
| Standing height# | 1250 mm [M21] | 1250 mm [M21] | 1250 mm [M21] |
| Standing envelope (H × W × T)# | — | — | — |
| Mass (with battery)# | 32 kg [M21] | 32 kg [M21] | 32 kg [M21] |
| Degrees of freedom | |||
| Total DoF (vendor-listed)# | 26 [M21] | 26 + 12 (with dexterous hands) [M21] | 26 + 12 (with dexterous hands) [M21] |
| Neck / arm / waist / leg split# | — | — | — |
| Hand DoF# | — | included in the 26 + 12 listing; not split per hand [M21] | included in the 26 + 12 listing; not split per hand [M21] |
| Load, speed, energy | |||
| Arm load# | — | — | — |
| Speed# | — | — | — |
| Battery energy# | — | — | — |
| Runtime# | — | — | — |
| Sensing, compute, status | |||
| Visual perception# | stereo camera [M21] | stereo camera [M21] | stereo camera [M21] |
| Main processor# | RK3588 + RDK X5 [M21] | RK3588 + RDK X5 [M21] | RK3588 + RDK X5 [M21] |
| High-performance compute# | — | Orin Nano 40TOPS; precision/mode unpublished [M21] | NX 100TOPS; precision/mode unpublished [M21] |
| List price# | — | — | — |
| Public SDK / URDF# | not in the 573-URL developer sitemap or 17 public GitHub repositories [M2] [M3] | not in the 573-URL developer sitemap or 17 public GitHub repositories [M2] [M3] | not in the 573-URL developer sitemap or 17 public GitHub repositories [M2] [M3] |
“100M-scale Transformer” and Buy Now are not hardware metrics and do not prove Humanoid-GPT, AstraBrain-WBC 0.5, LDA-1B, WAM-TTT, or LATENT on ET1. Demos stay on the ET1 status card.
EngineAI PM01 — 2026 Education and Navigation editions
The Chinese page controls these columns. Education prints 1 for single-leg DoF and 24 total; Navigation prints 6. Conflict preserved. English Business / Education figures are not averaged in.
Version boundary. Chinese 2026 Education / Navigation: 1400 × 540 × 295 mm, about 44.5 kg, 8-core CPU, 164 N·m. The English legacy page prints different figures: source-version conflicts, not measurement uncertainty.
English legacy figures
English legacy Business / Education: 1400 × 535.55 × 252.66 mm, about 42 / nearly 43 kg, 4-core CPU, 145 N·m Q90H. [M22] [M23]
| Metric | PM01 2026 Education | PM01 2026 Navigation |
|---|---|---|
| Envelope & structure | ||
| Standing envelope (H × W × D)# | 1400 × 540 × 295 mm [M22] | 1400 × 540 × 295 mm [M22] |
| Mass (with battery)# | about 44.5 kg [M22] | about 44.5 kg [M22] |
| Thigh + calf length# | 686.5 mm [M22] | 686.5 mm [M22] |
| Arm span# | 1440 mm [M22] | 1440 mm [M22] |
| Upper arm + forearm length# | — | 470 mm [M22] |
| Frame material# | aviation aluminium [M22] | aviation aluminium [M22] |
| Degrees of freedom & actuation | ||
| Total DoF (joint-motor count)# | 24 [M22] | 24 [M22] |
| Neck DoF# | 1 [M22] | 1 [M22] |
| Arm DoF (per arm)# | 5 [M22] | 5 [M22] |
| Leg DoF (per leg)# | 1 — literal source listing; conflicts with the total [M22] | 6 [M22] |
| Waist DoF# | 1 [M22] | 1 [M22] |
| Maximum torque# | 164 N·m [M22] | 164 N·m [M22] |
| Peak torque density# | 145 N·m/kg [M22] | 145 N·m/kg [M22] |
| Motion, energy, sensing & compute | ||
| Movement speed# | >2 m/s (hardware support) [M22] | >2 m/s (hardware support) [M22] |
| Quick-release battery capacity# | 10,000 mAh [M22] | 10,000 mAh [M22] |
| Battery energy# | — | — |
| Runtime# | about 2 h; duty cycle unstated [M22] | about 2 h; duty cycle unstated [M22] |
| Charger output# | 54.6 V / 4.5 A [M22] | 54.6 V / 4.5 A [M22] |
| Full-charge time# | about 2 h [M22] | about 2 h [M22] |
| Vision# | 2 wide-FOV binocular cameras, head + waist [M22] | 2 wide-FOV binocular cameras, head + waist [M22] |
| 3D LiDAR# | not listed [M22] | yes [M22] |
| Base compute# | 8-core high-performance CPU [M22] | 8-core high-performance CPU [M22] |
| AI compute# | NVIDIA Jetson Orin NX 16 GB [M22] | NVIDIA Jetson Orin NX 16 GB [M22] |
| Stated TOPS# | — | — |
| Chest touchscreen# | yes [M22] | no [M22] |
| Secondary development# | supported [M22] | supported [M22] |
Battery energy stays —: 10,000 mAh is not multiplied by the 54.6 V charger rating. Pack voltage is unpublished on this page, so no derived Wh.
EngineAI T800 — Basic, Open Source, Pro and Max editions
The English page controls these columns.
Chinese page cross-check
The Chinese page prints the same Basic, Open Source and Max values except where a cell says otherwise; its Pro column is misaligned (the total-DoF sum sits in the weight row), so it is not used for Pro.
Claim boundary. The page body says “29 DOF throughout the body (excluding the dexterous hand)”, which matches Pro only: the table gives 25 for Basic and Open Source and 32 for Max.
Endurance, hand payload and footnote
The body also says “up to 4 hours” of endurance against 3–5 h in the table, and gives the 7-DoF dexterous hand a 5 kg payload; that hand is listed for Pro and Max only, and no arm or whole-robot payload is published. A footnote says the parameters may vary with scenario and posture, and that some shown features are still in development. [M29]
| Metric | T800 Basic | T800 Open Source | T800 Pro | T800 Max |
|---|---|---|---|---|
| Envelope & structure | ||||
| Height# | 173 cm [M29] | 173 cm [M29] | 173 cm [M29] | 173 cm [M29] |
| Mass# | 75–85 kg; varies by configuration [M29] | 75–85 kg; varies by configuration [M29] | 75–85 kg; varies by configuration [M29] | 75–85 kg; varies by configuration [M29] |
| Thigh + lower-leg length# | 91 cm [M29] | 91 cm [M29] | 91 cm [M29] | 91 cm [M29] |
| Single-arm length# | 60 cm [M29] | 60 cm [M29] | 60 cm [M29] | 60 cm [M29] |
| Structural material# | aviation aluminium + titanium [M29] | aviation aluminium + titanium [M29] | aviation aluminium + titanium [M29] | aviation aluminium + titanium [M29] |
| Degrees of freedom & actuation | ||||
| Total DoF (joint-motor count)# | 25 [M29] | 25 [M29] | 29 + 14 dexterous-hand = 43 [M29] | 32 + 14 dexterous-hand = 46 [M29] |
| Hand DoF (per hand)# | none listed (“/”) [M29] | none listed (“/”) [M29] | 7 [M29] | 7 [M29] |
| Neck DoF# | 2 [M29] | 2 [M29] | 3 [M29] | 3 [M29] |
| Arm DoF (per arm)# | 5 [M29] | 5 [M29] | 7 [M29] | 7 [M29] |
| Leg DoF (per leg)# | 6 [M29] | 6 [M29] | 6 [M29] | 6 [M29] |
| Waist DoF# | 1 [M29] | 1 [M29] | 1 [M29] | 3 [M29] |
| Maximum joint torque# | 450 N·m; may vary with scenario and posture [M29] | 450 N·m; may vary with scenario and posture [M29] | 450 N·m; may vary with scenario and posture [M29] | 450 N·m; may vary with scenario and posture [M29] |
| Motion, energy, sensing & compute | ||||
| Movement speed# | ≥2 m/s (hardware supported) [M29] | ≥2 m/s (hardware supported) [M29] | ≥2 m/s (hardware supported) [M29] | ≥2 m/s (hardware supported) [M29] |
| Battery energy# | — | — | — | — |
| Runtime# | 3–5 h; duty cycle unstated [M29] | 3–5 h; duty cycle unstated [M29] | 3–5 h; duty cycle unstated [M29] | 3–5 h; duty cycle unstated [M29] |
| Vision# | wide-FOV binocular camera, head [M29] | ultra-wide-FOV binocular camera; the Chinese page lists the head wide-FOV camera [M29] [M30] | ultra-wide-FOV binocular camera [M29] | ultra-wide-FOV binocular camera [M29] |
| 3D LiDAR# | not listed (“/”) [M29] | yes on the English page [M29]; not listed on the Chinese page [M30] | yes [M29] | yes [M29] |
| Communication# | Wi-Fi 5 + Bluetooth 5.0 [M29] | Wi-Fi 5 + Bluetooth 5.0 [M29] | Wi-Fi 5 + Bluetooth 5.0 [M29] | Wi-Fi 5 + Bluetooth 5.0 + 5G [M29] |
| Base compute# | 8-core high-performance CPU [M29]; RK3588S on the Chinese page [M30] | 8-core high-performance CPU [M29]; RK3588S on the Chinese page [M30] | 8-core high-performance CPU [M29]; RK3588S on the Chinese page [M30] | 8-core high-performance CPU [M29]; RK3588S on the Chinese page [M30] |
| AI compute# | Orin NX 16G [M29] | AGX Orin 64G; upgradable to Thor on request, on the English page only [M29] [M30] | AGX Orin 64G; upgradable to Thor on request, on the English page only [M29] [M30] | AGX Orin 64G; upgradable to Thor on request, on the English page only [M29] [M30] |
| Secondary development# | not listed (“/”) [M29] | supported [M29] | supported [M29] | supported [M29] |
| List price# | — | — | — | — |
Battery energy and list price stay —: the page names a quick-release lithium battery without a capacity, and its Buy Now button states no price.
Fauna Sprout Creator Edition — product page and specification PDF
Height, width, depth, and arm length from centimetres. “29 DoF” includes two eyebrows. Payloads are theoretical per-arm pose-duration values, not a generic arm load, and may exceed the current teleoperation controller.
| Metric | Sprout Creator Edition |
|---|---|
| Envelope, mass & structure | |
| Standing envelope (H × W × D)# | 1070 × 450 × 210 mm [M25] |
| Mass# | 22.7 kg [M25] |
| Arm length# | 480 mm [M25] |
| Construction# | aluminium and composite frame; padded exterior [M25] |
| Degrees of freedom | |
| Total DoF# | 29, including 2 articulated eyebrows [M25] |
| Neck DoF# | 2 [M24] |
| Arm DoF (per arm)# | 6 [M24] |
| Leg DoF (per leg)# | 5 [M24] |
| Gripper DoF (per hand)# | 1 [M24] |
| Compute, sensing & energy | |
| Onboard SoC# | NVIDIA Jetson AGX Orin [M25] |
| Onboard memory# | 64 GB [M25] |
| Storage# | 1 TB NVMe SSD [M25] |
| Vision# | ZED2i RGB-D stereo camera [M25] |
| Proximity sensing# | 4 × VL53L8CX time-of-flight sensors [M25] |
| Inertial sensing# | 9-axis IMU [M25] |
| Microphones# | 4 × MEMS array [M25] |
| System voltage# | 46.8 V nominal DC [M25] |
| Battery capacity# | 5000 mAh standard or 10,000 mAh extended-run Li-ion [M25] |
| Runtime# | 3–3.5 h; duty cycle unstated [M25] |
| Connectivity# | Wi-Fi 5.2 (vendor wording) + Ethernet [M25] |
| Software, safety & environment | |
| SDK# | Fauna SDK; Python / C++ API; Foxglove integration [M25] |
| Simulation compatibility# | NVIDIA Isaac Sim, Gazebo, MuJoCo [M25] |
| Safety provisions# | high-level, low-level, and inherent layers; E-stop [M25] |
| Operating temperature# | 10–30 °C [M25] |
| Storage temperature# | 5–35 °C [M25] |
| Operating / storage humidity# | 10–90% RH, noncondensing [M25] |
| Ingress / use# | IP20; indoor use only [M25] |
| Warranty / service plan# | 12-month hardware; 90-day software; 2-year service plan [M25] |
Per-arm payload by pose and duration
| Arm pose | Maximum (<10 s) | Nominal (<90 s) | Rated (indefinitely) |
|---|---|---|---|
| Forward raise# | 3.7 kg [M25] | 1.75 kg [M25] | 0.7 kg [M25] |
| Lateral raise# | 5.6 kg [M25] | 2.5 kg [M25] | 0.0 kg; vendor does not recommend indefinite hold with or without load [M25] |
| Bent elbow# | 11.2 kg [M25] | 5.0 kg [M25] | 1.1 kg [M25] |
This matrix is not joined to the field table. A bent-elbow peak for less than 10 seconds is not a rated fully-extended arm load.
NEURA Robotics 4NE1 Gen 3.5 — product, datasheet, and reservation
10–100 kg is application-dependent (location, end effector, configuration), not an arm-load claim. Wheel and seventh-axis variants stay out of this Gen 3.5 biped column.
Status boundary. A €100 refundable reservation places an order in a delivery queue. The vendor says availability is expected at the end of 2026 and prints estimated unit pricing, not a shipping claim. [M28]
| Metric | 4NE1 Gen 3.5 |
|---|---|
| Body & motion | |
| Form in this column# | full-scale biped, Gen 3.5 [M28] |
| Height# | 1800 mm [M27] |
| Mass# | 80 kg [M27] |
| Speed# | 5 km/h [M27] |
| Whole-body DoF# | — |
| Own-hands DoF# | 12 [M27] |
| Vendor payload label (not arm load)# | 10–100 kg; application-dependent on location, end effector, and configuration [M27] |
| Rated arm load# | — |
| Forearms# | exchangeable [M27] |
| Perception, compute & operation | |
| Perception# | 360° perception / computer vision; sensor skin [M27] |
| Compute label# | Thor T5000 [M27] |
| Operating-time label# | 24/7; datasheet supplies no battery duty cycle [M27] |
| Battery energy# | — |
| Interfaces# | Wi-Fi 6, Ethernet, Python SDK, ROS 2, C++ SDK [M28] |
| Additional access# | digital twin, teleoperation, Neura Gym training readiness [M28] |
| Safety option caveat# | human-detection sensors optional at added cost [M27] |
| Commercial status | |
| Estimated unit price, 1–19 units# | €98,000 excluding tax and shipping [M28] |
| Estimated unit price, 20+ units# | €60,000 excluding tax and shipping [M28] |
| Refundable reservation fee# | €100 per unit [M28] |
| Expected availability# | end of 2026 [M28] |
Same-class field — bipeds with a published sheet
Same-definition biped sheets only. AgiBot A2 is reseller-sourced. Rated and peak arm load stay split; G1 arm span and H2 forearm + upper arm length never share a row.
| Metric | Unitree G1 | Unitree H2 | AgiBot A2 |
|---|---|---|---|
| Form# | biped [M2] | biped [M4] | biped service (reseller) [M5] |
| Height# | 1320 mm [M2] | 1820 mm [M4] | 1690 mm (reseller) [M5] |
| Mass# | ~35 kg [M2] | ~70 kg [M4] | 69 kg (reseller) [M5] |
| DoF# | 23 (43 EDU) [M2] | 31 [M4] | 40+ (reseller) [M5] |
| Arm load — rated# | — | ~7 kg [M4] | not on the datasheet (reseller) [M5] |
| Arm load — peak / maximum# | ~2 kg per arm, posture-dependent [M2] | ~15 kg [M4] | not on the datasheet (reseller) [M5] |
| Named-joint torque# | knee 90 N·m [M2] | arm 120; leg 360 N·m [M4] | peak joint 512 N·m (reseller) [M5] |
| Arm span# | ~450 mm [M2] | — | — |
| Forearm + upper arm length# | — | 690 mm [M4] | — |
| Calf + thigh length# | 600 mm [M2] | 1045 mm [M4] | — |
| Turning radius# | — | — | 600 mm (reseller) [M5] |
| Stated operating environment# | — | — | indoor dynamic floors — marble, carpet, wood; coverage up to 100,000 m² (reseller) [M5] |
| Stated safety level# | — | — | PLd-level protection, redundant dual control paths (reseller) [M5] |
| Pack# | 13-string (13S) lithium, quick-release [M2] | low-internal-resistance lithium, quick-release [M4] | — |
| Pack capacity# | 9000 mAh [M2] | 15 Ah [M4] | — |
| Battery energy# | — | 0.972 kWh [M4] | 700 Wh (reseller) [M5] |
| Runtime# | ~2 h [M2] | ~3 h [M4] | ~2 h (reseller) [M5] |
| Onboard SoC# | 8-core [M2] | i5; EDU + i7 [M4] | — |
| Optional accelerator# | optional Orin (EDU) [M2] | optional Thor (EDU) [M4] | — |
| Stated TOPS# | — | — | — |
| Price / status# | $13.5k / ¥85k [M2] | $29,900 [M4] | contact sales (reseller) [M5] |
Engineering models
Official Unitree robot models, linked as downloads. Formats are identified per link. Every URDF here is assembled live on the 3D models page; that page is publication evidence and adds no specification.
- Unitree ROS — URDF descriptions under
unitree_ros. github.com/unitreerobotics/unitree_ros BSD-3-Clause [M6] - Unitree MuJoCo — MJCF models under
unitree_mujoco. github.com/unitreerobotics/unitree_mujoco BSD-3-Clause [M7] - Unitree model dataset — URDF / MJCF / USD / STL / DAE assets. huggingface.co/datasets/unitreerobotics/unitree_model BSD-3-Clause [M8]
- AgiBot X2 Ultra — URDF v1.4.0 with STL meshes; assembled on the 3D models page. github.com/AgibotTech/agibot_x2_urdf Mulan PSL v2
- Fourier GR2 — URDF v3.0.1 with STL meshes (GPL-3.0; live load only). github.com/FFTAI/Wiki-GRx-Models GPL-3.0
- Leju Kuavo — vendor ROS package with versioned descriptions; not assembled on the 3D models page. github.com/LejuRobotics/kuavo-ros-opensource
- UBTECH Walker S2 — no public official URDF or CAD package was verified on 2026-08-28.
- Booster T1 / K1 — SDK and open-source portal; no commit-pinned URDF is assembled here. booster.tech/open-source [M17]
- LimX Oli — vendor claims a complete URDF; no commit-pinned file is assembled here. limxdynamics.com/en/products/oli [M18]
- PAL TALOS — product page claims a URDF with inertial data; no commit-pinned file is assembled here. pal-robotics.com/robot/talos [M20]
- Galbot ET1 — live product table above; no public official URDF, SDK, or description package appeared in Galbot’s developer sitemap or public GitHub organization when rechecked on 2026-09-03. [M2] [M3]
- EngineAI PM01 — commit-pinned URDF is assembled on the 3D models page; the current 2026 product sheet is above. [M16]
- Fauna Sprout Creator Edition — product page lists simulation compatibility but no public official URDF or model repository was verified on 2026-09-04. [M24]
- NEURA 4NE1 Gen 3.5 — product, datasheet, and reservation pages publish no public engineering-model package. [M26] [M27] [M28]