Class definition
Legged ground robots (IFR type A2 walking).
Load rows and Go2
Standing load and continuous walking load stay on separate rows; a mounted-payload figure is never summarized into one unqualified payload. Go2 SKUs stay off the industrial B2 table.
Go2 and B2 loads
Do not move these numbers into a humanoid table. Do not put a Go2 ≈7–8 kg payload beside B2’s ≥120 kg standing transport load.
Unitree B2 vs Boston Dynamics Spot
Rows with a metric only one vendor publishes show —. Speed is qualified (special configuration vs. standard). Spot's mounted payload is a different metric from B2's transport load and has its own row.
| Metric | Unitree B2 | Boston Dynamics Spot |
|---|---|---|
| Mass (with battery)# | ≈60 kg [M1] | 33.8 kg [M2] |
| Standing transport load# | ≥120 kg [M1] | — |
| Continuous walking load# | >40 kg [M1] | — |
| Mounted payload capacity# | — | 14 kg (payload mounting) [M2] |
| Speed# | >6 m/s (special configuration; speed-limited in practice) [M1] | 1.6 m/s [M2] |
| Stairs / slope# | stairs 200–250 mm continuous; slope >45° [M1] | slope ±30° [M2] |
| Obstacle# | 400 mm forward climb [M1] | — |
| IP rating# | IP67 [M1] | IP54 [M2] |
| Temperature# | −20 to 55 °C [M1] | −20 to 55 °C [M2] |
| Pack voltage# | 58 V [M1] | — |
| Pack capacity# | 45 Ah [M1] | — |
| Battery energy# | 2250 Wh (vendor-stated; not 58 V × 45 Ah) [M1] | 564 Wh [M2] |
| Runtime# | 4–6 h listed [M1] | ~90 min typical (varies by payload and environment) [M2] |
| Endurance / range# | no-load walk >5 h / >20 km; 20 kg walk >4 h / >15 km [M1] | — |
| Onboard SoC# | i5 + i7 [M1] | — |
| Optional accelerator# | up to 3× Orin NX [M1] | — |
| Stated TOPS# | — | — |
| Sensors# | 3D LiDAR ×1 + depth ×2 + optical ×2 (config) [M1] | 360° terrain sensing, 4 m range [M2] |
| I/O# | 1 GbE ×4, USB3 ×4, 12 V ×4, 24 V ×4 [M1] | DB25 ×2; 35–58.8 VDC, 150 W per port [M2] |
| Optional manipulator# | — | Spot Arm (optional) [M2] |
| Wheeled foot# | optional (B2-W) [M1] | — |
B2-only jump, ditch, and torque stay off Spot columns (no matching definitions). B2 Wh is the vendor 2250 Wh figure, not 58 × 45.
Unitree Go2 — consumer / education family
AIR, PRO, X, and EDU are separate columns. Dimensions from centimetres. Payload kg and ≈3000 W stay on separate rows. Max torque is the largest motor; AIR leaves torque and the 8-core CPU unpublished (○).
| Metric | Go2 AIR | Go2 PRO | Go2 X | Go2 EDU |
|---|---|---|---|---|
| Price & warranty | ||||
| Listed price# | $1600 [M6] | $2800 [M6] | $4500 [M6] | contact sales [M6] |
| Warranty# | 6 months [M6] | 12 months [M6] | 12 months [M6] | 12 months [M6] |
| Envelope & mass | ||||
| Standing (L × W × H)# | 700 × 310 × 400 mm [M6] | 700 × 310 × 400 mm [M6] | 700 × 310 × 400 mm [M6] | 700 × 310 × 400 mm [M6] |
| Crouching (L × W × H)# | 760 × 310 × 200 mm [M6] | 760 × 310 × 200 mm [M6] | 760 × 310 × 200 mm [M6] | 760 × 310 × 200 mm [M6] |
| Mass (with battery)# | about 15 kg [M6] | about 15 kg [M6] | about 15 kg [M6] | about 15 kg [M6] |
| Material# | aluminium alloy + high-strength engineering plastic [M6] | aluminium alloy + high-strength engineering plastic [M6] | aluminium alloy + high-strength engineering plastic [M6] | aluminium alloy + high-strength engineering plastic [M6] |
| Load & speed | ||||
| Payload# | ≈7 kg (MAX ~10 kg) [M6] | ≈8 kg (MAX ~10 kg) [M6] | ≈8 kg (MAX ~12 kg) [M6] | ≈8 kg (MAX ~12 kg) [M6] |
| Speed# | 0–2.5 m/s [M6] | 0–3.5 m/s [M6] | 0–3.7 m/s (MAX ~5 m/s) [M6] | 0–3.7 m/s (MAX ~5 m/s) [M6] |
| Max climb drop# | about 150 mm [M6] | about 160 mm [M6] | about 160 mm [M6] | about 160 mm [M6] |
| Max climb angle# | 30° [M6] | 40° [M6] | 40° [M6] | 40° [M6] |
| Joints & power | ||||
| Knee motors# | 12 aluminium knee-joint motors [M6] | 12 aluminium knee-joint motors [M6] | 12 aluminium knee-joint motors [M6] | 12 aluminium knee-joint motors [M6] |
| Max joint torque (largest motor)# | — | about 45 N·m [M6] | about 45 N·m [M6] | about 45 N·m [M6] |
| Range of motion# | body −48–48°; thigh −200–90°; shank −156–−48° [M6] | body −48–48°; thigh −200–90°; shank −156–−48° [M6] | body −48–48°; thigh −200–90°; shank −156–−48° [M6] | body −48–48°; thigh −200–90°; shank −156–−48° [M6] |
| Voltage# | 28–33.6 V [M6] | 28–33.6 V [M6] | 28–33.6 V [M6] | 28–33.6 V [M6] |
| Working maximum power# | about 3000 W [M6] | about 3000 W [M6] | about 3000 W [M6] | about 3000 W [M6] |
| Compute & sensors | ||||
| Basic computing power# | — | 8-core high-performance CPU [M6] | 8-core high-performance CPU [M6] | 8-core high-performance CPU [M6] |
| High-compute module# | — | — | — | optional, e.g. Orin 40–100 TOPS; precision/mode unpublished [M6] |
| 4D LiDAR L2# | equipped [M6] | equipped [M6] | equipped [M6] | equipped [M6] |
| HD wide-angle camera# | equipped [M6] | equipped [M6] | equipped [M6] | equipped [M6] |
| Wireless vector positioning# | — | equipped [M6] | equipped [M6] | equipped [M6] |
| Foot-end force sensor# | — | — | — | equipped [M6] |
| Depth camera# | — | — | — | equipped [M6] |
| Battery & charger | ||||
| Smart battery# | standard 8000 mAh [M6] | standard 8000 mAh [M6] | standard 8000 mAh [M6] | long endurance 15000 mAh [M6] |
| Battery life# | about 1–2 h [M6] | about 1–2 h [M6] | about 1–2 h [M6] | about 2–4 h [M6] |
| Charger# | standard 33.6 V 3.5 A [M6] | standard 33.6 V 3.5 A [M6] | standard 33.6 V 3.5 A [M6] | fast charge 33.6 V 9 A [M6] |
| Connectivity & development | ||||
| Wi-Fi 6 dual-band# | equipped [M6] | equipped [M6] | equipped [M6] | equipped [M6] |
| Bluetooth# | 5.2 / 4.2 / 2.1 [M6] | 5.2 / 4.2 / 2.1 [M6] | 5.2 / 4.2 / 2.1 [M6] | 5.2 / 4.2 / 2.1 [M6] |
| 4G module (with GPS)# | — | equipped [M6] | equipped [M6] | equipped [M6] |
| Secondary development# | — | — | partial [M6] | equipped [M6] |
| Charging-pile compatibility# | — | — | equipped [M6] | equipped [M6] |
Footnote [1]: max torque is the largest motor; the twelve motors differ. “Approx. 5 m/s tested in lab” is the X / EDU MAX, not AIR / PRO. ISS 2.0 >30 m is not payload.
ANYbotics ANYmal D — vendor technical specifications
Generation D PDF V.1, May 2022. Standing/walking transport loads unpublished; mounted payload is its own row. Inspection-payload mass is not robot mass. ANYmal B URDF is another generation.
| Metric | ANYmal D |
|---|---|
| Envelope & mass | |
| Length × width × height (default walking)# | 930 × 530 × 890 mm [M7] |
| Height (lying on ground)# | 470 mm [M7] |
| Mass# | 50 kg; 55.7 kg with inspection payload [M7] |
| Inspection-payload unit mass# | 5.7 kg [M7] |
| Load, motion, environment | |
| Mounted payload capacity# | up to 10 kg nominal; up to 15 kg with reduced walking speed and operating time [M7] |
| Standing transport load# | — |
| Walking speed# | 1.3 m/s maximum; 0.75 m/s recommended [M7] |
| Stairs / slope# | stairs up to 45°, max rise 230 mm; slope ±30° [M7] |
| IP rating# | IP67 [M7] |
| Temperature# | specified 0–40 °C; typical −10–50 °C [M7] |
| Energy, compute, sensing | |
| Pack continuity# | swappable Li-ion [M7] |
| Battery energy# | 932.4 Wh [M7] |
| Pack certification# | UN 38.3 [M7] |
| Runtime# | 90–120 min on a full charge [M7] |
| Stated range# | 4 km on a full charge; up to 2 km for a typical inspection mission [M7] |
| Onboard SoC# | 2× 8th-gen Intel Core i7 (6-core) [M7] |
| Onboard memory# | 2× 8 GB RAM [M7] |
| Storage / OS# | 2× 240 GB SSD; Ubuntu 20.04 [M7] |
| LiDAR# | 16 channels, 0.4–100 m, 360 × 15 to −15° FOV [M7] |
| Total DoF# | — |
Zoom, thermal, microphone, and pan-tilt belong to the inspection payload, not a robot-DoF total. The ANYmal B Menagerie model stays a model-only card.
Ghost Robotics Vision 60 — vendor specification table
Technical Specifications block, not the marketing “up to 2.5 m/s” line. Payload is stated capacity with user-selectable compensation, not a standing transport load. Not mixed with B2, Spot, or ANYmal D.
| Metric | Vision 60 |
|---|---|
| Overall length × width × height (standing)# | 950 × 570 × 685 mm [M8] |
| Ride height (bottom of body)# | 419 mm [M8] |
| Mass (tare)# | 51 kg [M8] |
| Stated payload capacity# | 10 kg; user-selectable payload compensation [M8] |
| Standing transport load# | — |
| Speed# | 0.9 m/s standard walk; up to 1.2 m/s fast-walk; 2.4 m/s sprint (page: working towards 3.0 m/s) [M8] |
| Endurance# | 3.15 h continuous walking at 0.9 m/s; 21 h standby (sensors, compute, radio on) [M8] |
| IP rating# | IP67 [M8] |
| Operating temperature# | −40 to 55 °C; cold start not below −20 °C [M8] |
| Actuation / legs# | 3 DoF per leg; 12-motor back-drivable drivetrain [M8] |
| Onboard SoC# | NVIDIA Xavier [M8] |
| Onboard memory# | 32 GB RAM [M8] |
| Storage# | 2 TB NVMe SSD [M8] |
| Integrated sensors named on the page# | 5× RGB 1080p; 4× D435 depth; dual-antenna RTK GPS [M8] |
A marketing “up to 2.5 m/s” line on the same page is not copied over the specification block. Charge-time and radio notes stay off this table. No official URDF was verified here.
Engineering models
Official Unitree robot models for simulation. B2 and B2-W are assembled live on the 3D models page; that page is publication evidence and adds no specification.
- Unitree ROS — URDF under
unitree_ros. github.com/unitreerobotics/unitree_ros BSD-3-Clause [M3] - Unitree MuJoCo — MJCF under
unitree_mujoco. github.com/unitreerobotics/unitree_mujoco BSD-3-Clause [M4] - Unitree model dataset — URDF / MJCF / USD / STL / DAE. huggingface.co/datasets/unitreerobotics/unitree_model BSD-3-Clause [M5]
- Unitree Go2 — URDF with Collada meshes; assembled on the 3D models page. github.com/unitreerobotics/unitree_ros BSD-3-Clause [M3]
- ANYmal D — no public official URDF for Generation D was verified. The assembled ANYmal B and ANYmal C cards are simplified simulation descriptions, not this datasheet.