H1 - Humanoid Robot

H1 is the first general-purpose humanoid robot developed by Unitree, bringing together its experience as one of the leading manufacturers of quadrupeds. In this sense, Unitree has extensive knowledge in the development of mechanical systems for limbs and propulsion, as well as perception and movement algorithms.

Its robust, stable, highly flexible design and its high movement capabilities allow H1 to adapt to different environments and complex terrains. The humanoid is 180 cm tall and weighs about 47 kg. H1 also features a high-torque articulating motor and a gear train developed in-house at Unitree. 

In addition, the humanoid is equipped with a 3D LiDAR sensor and depth camera that provide 360° perception and allow it to scan/map the environment for real-time acquisition of high-precision spatial data. The leg joints have 5 degrees of freedom (DOF) while the arm joints have 4 DOF.

The naturally proportioned humanoid robot is aimed at multiple industries and applications, performing a wide range of tasks ranging from part handling, quality inspection or entertainment purposes.

Main features:

• Depth camera: Intel Realsense D435i
• 3D LIDAR: LIVOX-MID360
• Combined shoulder motors: realization of 3D spatial degrees of freedom
• Single arm degrees of freedom: 4 (expandable)
• Single leg degrees of freedom: Hip x3 + Knee x1 + Ankle x1
• Mobility: Travel speed > 1.5/ms
• Hollow electrical routing: no external cables
• Core motion module: Maximum torque at joints 360 N.m
• Key dimensions: (1560+200) * 570 * 220 mm
• Height of the body:1.56 m
• Height of the head:0.2 m
• Total height: about 1.76 m
• Width of the body:0.57 m
• Thickness of the body: 0.22 m
• Thigh length: 400 mm; Calf length: 400 mm
  Boom length: 338 mm; Length of forearm: 338 mm;
• Ultimate torque of joint unit: knee joint is about 360N. m, hip joint saves 220N. m, ankle joint saves 45N. m, and arm joint saves about 75N. m;
• Battery: Capacity 15Ah (0.864KWh), maximum voltage 67.2V;
• Control and perception computing power: 2 * Intel Core i7-1265U;
• Perception sensor configuration: 3D LiDAR+depth camera; 12)
• Standard dual battery
• Standard dual fast charger

Applications: 

• R&D
• Load transport
• Manipulation
• Inspection
• Security
• Entertainment