Unitree H1
Full-Size Humanoid Robot for Research and Development
$99,900
The Unitree H1 is a full-size humanoid robot from Unitree Robotics, standing 180 cm and weighing 47 kg, which held the world record for bipedal running speed at 3.3 m/s (7.4 mph) at launch. Powered by PMSM M107 motors delivering 360 N·m of knee joint torque and 189 N·m/kg peak torque density, the H1 is priced at approximately $90,000 — one of the most affordable full-size humanoids commercially available. It targets research labs, universities, and R&D teams focused on bipedal locomotion, reinforcement learning, and embodied AI.
Released: 2023
Estimated lead time: 8 weeks
Key Features
- Height: 180cm (5.9 ft)
- Weight: 47kg (103 lbs)
- Max Speed: 3.3 m/s (world record)
- DOF: 19-27
- Max Joint Torque: 360N.m
- Battery Life: 2+ hours
What Is the Unitree H1?
The Unitree H1 is Unitree Robotics' first full-size universal humanoid robot. At launch, it achieved the world record for bipedal running speed at 3.3 m/s (7.4 mph) with demonstrated potential exceeding 5 m/s. Standing 180 cm and weighing just 47 kg, the H1 combines elite locomotion performance with affordability. The M107 joint motors achieve a peak torque density of 189 N·m/kg, among the highest in the industry. The updated H1-2 variant adds 7 DOF per arm (vs 4 in the base H1), increases arm torque to 120 N·m, and expands ankle articulation, priced at approximately $150,000.
Key Capabilities
- World-record bipedal running speed of 3.3 m/s (7.4 mph) with potential exceeding 5 m/s
- 360 N·m knee joint torque and 189 N·m/kg peak torque density
- 3D LiDAR for 360° spatial mapping plus Intel RealSense D435i depth camera
- Reinforcement learning gait control with terrain adaptation — stairs, slopes, outdoor
- Dynamic recovery from external disturbances via high-bandwidth torque control
- Full ROS2 compatibility — integrates with Gazebo, MoveIt, and Nav2
- 864 Wh quickly-replaceable lithium-ion battery
- 26 total DOF in the base model (H1-2: 27 DOF)
Engineering & Performance
The H1's defining feature is locomotion performance powered by Unitree's M107 joint motors with a peak torque density of 189 N·m/kg — among the highest in humanoid electric actuators. Industrial-grade crossed roller bearings in every joint ensure precision. The lightweight alloy construction achieves 47 kg — substantially lighter than comparable full-size humanoids (Tesla Optimus: 57 kg, Apptronik Apollo: 73 kg). The 3D LiDAR + Intel RealSense D435i combination provides redundant environmental perception. Reinforcement learning locomotion policies are trained in simulation and deployed via a sim-to-real pipeline.
Real-World Use Cases
The H1's primary application is bipedal locomotion research — universities and labs studying gait generation, balance control, and reinforcement learning use the H1 as a hardware validation platform. The H1's vision, LiDAR, and locomotion capabilities make it a capable platform for training and testing general-purpose robotic agents. Industrial inspection is another fit: the H1 can navigate complex terrain, climb stairs, and operate autonomously in factories and infrastructure facilities inaccessible to wheeled robots.
Videos
Deployment Evidence
Unitree H1 — Official Unitree Shop
Unitree H1 is commercially available at ~$90,000 USD; reported pilots at Geely automotive and Stanford University research programs.
Deployment Readiness
Integration & SDK
- ROS Support
- Supported
- SDK Available
- Supported
- API Docs
- View Docs
- Supported Platforms
- Linux, Ubuntu 20.04, ROS 2, Python, C++
Support & Service
Regions
| Tier | Response Time | SLA |
|---|---|---|
| Standard | 72 hrs | — |
Specifications
Mechanics
| Degrees of Freedom | 21 |
| Locomotion | Bipedal |
Performance
| Max Speed | 3.3 m/s |
Physical
| Weight | 47 kg |
| Height | 1800 mm |
Sensing
| Sensors | 3D LiDAR, depth camera, IMU |
Software
| SDK Support | Yes |
| ROS Compatible | Yes |
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