About
Description
Unitree Robotics -- Official Humanoid Robot
Unitree G1-D Flagship F Wheel Base Dual-Arm
G1-D Series
Mobile Chassis
59 DOF
100 TOPS
2x Wuji Hands
The ultimate high-DOF mobile dual-arm humanoid robot. The G1-D Flagship F builds upon the Flagship A platform, replacing standard grippers with 2x Wuji Five-Finger Dexterous Hand 2 units. Featuring an extraordinary 59 total degrees of freedom (19 body/chassis + 40 hands), each Wuji hand delivers 20 active DOF with full opposable fingers and lateral sway. Operating at 1000Hz control frequency via EtherNet with MIT force-position hybrid control. Powered by an NVIDIA Jetson Orin 16G (100 TOPS) computing module. Designed for the most demanding research and complex manipulation tasks.
59
Total DOF
20
Hand DOF (each)
1000Hz
Control Freq
100
TOPS Compute
6 hr
Battery Life
12 mo
Warranty
Flagship F vs. Flagship A: The G1-D Flagship F includes all features of the G1-D Flagship A mobile platform but upgrades the end-effectors from Dex1-1 grippers to the advanced Wuji Five-Finger Dexterous Hand 2. This massive upgrade increases the total system DOF from 21 to 59 (adding 40 DOF from the hands), enabling unprecedented dexterity for a mobile platform.
Product Overview
The Unitree G1-D Flagship F is a high-performance mobile dual-arm humanoid robot designed for advanced research and complex manipulation tasks requiring maximum dexterity. It integrates the robust G1-D Flagship A wheeled chassis and upper body with next-generation Wuji dexterous hands.
The robot features a 19-DOF mobile body (7 DOF per arm, 2 DOF waist, 1 DOF vertical column, 2 DOF chassis) capable of lifting the upper body 17.7" (450 mm) and navigating at speeds up to 3.35 mph (1.5 m/s). The centerpiece is the pair of Wuji Five-Finger Dexterous Hand 2 units, each offering 20 active DOF and integrated RGB cameras. The system is powered by an NVIDIA Jetson Orin 16G module providing 100 TOPS of computing power.
59 DOF System
19 body/chassis DOF plus 40 hand DOF (20 per hand) deliver unprecedented dexterity for a mobile platform.
Wuji Dexterous Hands
20 active DOF per hand with full opposable fingers, lateral sway, and directly connected rotary joints with backdriving.
Mobile Chassis
Dual-wheel differential drive with 360° rotation and 6-hour battery life for extended autonomous operation.
100 TOPS Computing
NVIDIA Jetson Orin 16G module provides massive computing power for onboard AI and real-time control.
Wuji Five-Finger Dexterous Hand 2 Specifications
The G1-D Flagship F is equipped with 2x Wuji Five-Finger Dexterous Hand 2 (without tactile feedback, includes wrist camera):
Wuji Hand Specifications (Per Hand)
- Active Degrees of Freedom: 20 DOF per hand.
- Gripper Configuration: Full opposable fingers, supports lateral sway.
- Kinematics Configuration: Directly connected rotary joints, supports backdriving.
- Dimensions: Approx. 7.3" x 3.1" x 1.6" (185 x 80 x 40 mm) frame.
- Minimum Gripping Diameter: 0.
- Control Frequency: 1000 Hz x 20 axes.
- Control Mode: MIT force-position hybrid control.
- Communication Protocol: EtherNet (1000BASE-T).
- Peak Finger Force: ≥ 3.37 lbf (≥ 15 N).
- Opening/Closing Speed: ≥ 4 cycles/s.
- Joint Backlash: < 1°.
- Operating Voltage: 16-58 V DC.
- Wrist Camera: Includes wrist-mounted RGB camera (FOV: D: 130°, H: 120°, V: 81°; Resolution: 1920 x 1080).
G1-D Flagship A Base Features
The robot body and chassis include all features of the G1-D Flagship A:
Mobile Chassis & Body
- Dimensions (Min Height): 49.6" x 20.7" x 22.4" (1260 x 525 x 570 mm).
- Dimensions (Max Height): 66.1" x 20.7" x 22.4" (1680 x 525 x 570 mm).
- Weight: Approx. 198.4 lb (90 kg) with battery.
- Chassis Drive: Dual-wheel differential drive, supports 360° rotation in place.
- Chassis Speed: Up to 3.35 mph (1.5 m/s).
- Battery: 30 Ah built-in chassis battery; 6 hours runtime.
- Vertical Travel: 17.7" (450 mm); Accuracy: 1 mm; Speed: max 2.36 in/s (60 mm/s).
- Arm Payload: Approx. 6.6 lb (3 kg).
- Arm Reach: Approx. 17.7" (0.45 m).
Computing & Perception
Powered by advanced hardware for AI and navigation:
Compute & Sensors
- Computing Module: NVIDIA Jetson Orin 16G (100 TOPS computing power).
- Base CPU: 8-core high-performance CPU.
- Head Camera: Dual HD Camera (FOV: H:115° V:80° D:125°; Resolution: 3840*1200).
- Chassis Sensors: LiDAR x1, Depth Camera x2, Physical Collision Sensor, Low-Profile Obstacle Detection Sensor.
- Connectivity: Wi-Fi 6, Bluetooth 5.2.
- Audio: 4-microphone array, 5W speaker.
What's Included
The G1-D Flagship F package contains:
| Robot | G1-D Flagship F Unit | Complete mobile humanoid robot with wheeled chassis, vertical column, dual arms, and 2x Wuji Five-Finger Dexterous Hand 2. |
| Power | Battery & Charging System | 1x Chassis battery (30 Ah), 1x Chassis direct-charging adapter, 1x Charging station (51V, 10A). |
| Control | Remote Control | Handheld remote control included. |
| Compute | NVIDIA Jetson Orin | Integrated 100 TOPS computing module. |
| Warranty | 12-Month Warranty | 12-month warranty for the entire machine. |
Important Notes
- No Upper Body Battery: The upper body of this model cannot accommodate a battery. Power is supplied exclusively by the chassis battery or charging station.
- Wuji Hands: Equipped with Wuji Five-Finger Dexterous Hand 2. Note: Without tactile feedback.
- Power Configuration: Comes standard with 1 chassis battery, 1 chassis direct-charging adapter, and 1 charging station.
- Development: Custom development and Smart OTA updates supported.
- Warranty: 12-month warranty for the entire machine.
Technical Specifications
| Product Name | G1-D Flagship F Wheel Base Dual-Arm Humanoid |
| Total Degrees of Freedom | 59 (Single arm 7x2 + Waist 2 + Column 1 + Articulated Hand 20x2 + Base 2) |
| Weight with Battery | Approx. 198.4 lb (90 kg) |
| Dimensions (Min Height) | 49.6" x 20.7" x 22.4" (1260 x 525 x 570 mm) |
| Dimensions (Max Height) | 66.1" x 20.7" x 22.4" (1680 x 525 x 570 mm) |
| Hand Model | Wuji Five-Finger Dexterous Hand 2 (x2) |
| Hand Active DOF | 20 per hand |
| Hand Dimensions | 7.3" x 3.1" x 1.6" (185 x 80 x 40 mm) |
| Control Frequency | 1000 Hz x 20 axes |
| Control Mode | MIT force-position hybrid control |
| Communication Protocol | EtherNet (1000BASE-T) |
| Peak Finger Force | ≥ 3.37 lbf (≥ 15 N) |
| Opening/Closing Speed | ≥ 4 cycles/s |
| Joint Backlash | < 1° |
| Operating Voltage (Hand) | 16-58 V DC |
| Tactile Feedback | Not included |
| Wrist Camera Resolution | 1920 x 1080 |
| Chassis Battery | 30 Ah, 6 hours runtime |
| Computing Module | NVIDIA Jetson Orin 16G (100 TOPS) |
| Warranty | 12 months for the entire machine |
* Specifications are based on manufacturer data and may vary slightly by production batch.
* The upper body of this model cannot accommodate a battery.
* Equipped with Wuji Five-Finger Dexterous Hand 2 without tactile feedback.
* Unitree is a registered trademark of Unitree Robotics. Wuji is a trademark of the respective manufacturer.
Description
Unitree Robotics -- Official Humanoid Robot
Unitree G1-D Flagship F Wheel Base Dual-Arm
G1-D Series
Mobile Chassis
59 DOF
100 TOPS
2x Wuji Hands
The ultimate high-DOF mobile dual-arm humanoid robot. The G1-D Flagship F builds upon the Flagship A platform, replacing standard grippers with 2x Wuji Five-Finger Dexterous Hand 2 units. Featuring an extraordinary 59 total degrees of freedom (19 body/chassis + 40 hands), each Wuji hand delivers 20 active DOF with full opposable fingers and lateral sway. Operating at 1000Hz control frequency via EtherNet with MIT force-position hybrid control. Powered by an NVIDIA Jetson Orin 16G (100 TOPS) computing module. Designed for the most demanding research and complex manipulation tasks.
59
Total DOF
20
Hand DOF (each)
1000Hz
Control Freq
100
TOPS Compute
6 hr
Battery Life
12 mo
Warranty
Flagship F vs. Flagship A: The G1-D Flagship F includes all features of the G1-D Flagship A mobile platform but upgrades the end-effectors from Dex1-1 grippers to the advanced Wuji Five-Finger Dexterous Hand 2. This massive upgrade increases the total system DOF from 21 to 59 (adding 40 DOF from the hands), enabling unprecedented dexterity for a mobile platform.
Product Overview
The Unitree G1-D Flagship F is a high-performance mobile dual-arm humanoid robot designed for advanced research and complex manipulation tasks requiring maximum dexterity. It integrates the robust G1-D Flagship A wheeled chassis and upper body with next-generation Wuji dexterous hands.
The robot features a 19-DOF mobile body (7 DOF per arm, 2 DOF waist, 1 DOF vertical column, 2 DOF chassis) capable of lifting the upper body 17.7" (450 mm) and navigating at speeds up to 3.35 mph (1.5 m/s). The centerpiece is the pair of Wuji Five-Finger Dexterous Hand 2 units, each offering 20 active DOF and integrated RGB cameras. The system is powered by an NVIDIA Jetson Orin 16G module providing 100 TOPS of computing power.
59 DOF System
19 body/chassis DOF plus 40 hand DOF (20 per hand) deliver unprecedented dexterity for a mobile platform.
Wuji Dexterous Hands
20 active DOF per hand with full opposable fingers, lateral sway, and directly connected rotary joints with backdriving.
Mobile Chassis
Dual-wheel differential drive with 360° rotation and 6-hour battery life for extended autonomous operation.
100 TOPS Computing
NVIDIA Jetson Orin 16G module provides massive computing power for onboard AI and real-time control.
Wuji Five-Finger Dexterous Hand 2 Specifications
The G1-D Flagship F is equipped with 2x Wuji Five-Finger Dexterous Hand 2 (without tactile feedback, includes wrist camera):
Wuji Hand Specifications (Per Hand)
- Active Degrees of Freedom: 20 DOF per hand.
- Gripper Configuration: Full opposable fingers, supports lateral sway.
- Kinematics Configuration: Directly connected rotary joints, supports backdriving.
- Dimensions: Approx. 7.3" x 3.1" x 1.6" (185 x 80 x 40 mm) frame.
- Minimum Gripping Diameter: 0.
- Control Frequency: 1000 Hz x 20 axes.
- Control Mode: MIT force-position hybrid control.
- Communication Protocol: EtherNet (1000BASE-T).
- Peak Finger Force: ≥ 3.37 lbf (≥ 15 N).
- Opening/Closing Speed: ≥ 4 cycles/s.
- Joint Backlash: < 1°.
- Operating Voltage: 16-58 V DC.
- Wrist Camera: Includes wrist-mounted RGB camera (FOV: D: 130°, H: 120°, V: 81°; Resolution: 1920 x 1080).
G1-D Flagship A Base Features
The robot body and chassis include all features of the G1-D Flagship A:
Mobile Chassis & Body
- Dimensions (Min Height): 49.6" x 20.7" x 22.4" (1260 x 525 x 570 mm).
- Dimensions (Max Height): 66.1" x 20.7" x 22.4" (1680 x 525 x 570 mm).
- Weight: Approx. 198.4 lb (90 kg) with battery.
- Chassis Drive: Dual-wheel differential drive, supports 360° rotation in place.
- Chassis Speed: Up to 3.35 mph (1.5 m/s).
- Battery: 30 Ah built-in chassis battery; 6 hours runtime.
- Vertical Travel: 17.7" (450 mm); Accuracy: 1 mm; Speed: max 2.36 in/s (60 mm/s).
- Arm Payload: Approx. 6.6 lb (3 kg).
- Arm Reach: Approx. 17.7" (0.45 m).
Computing & Perception
Powered by advanced hardware for AI and navigation:
Compute & Sensors
- Computing Module: NVIDIA Jetson Orin 16G (100 TOPS computing power).
- Base CPU: 8-core high-performance CPU.
- Head Camera: Dual HD Camera (FOV: H:115° V:80° D:125°; Resolution: 3840*1200).
- Chassis Sensors: LiDAR x1, Depth Camera x2, Physical Collision Sensor, Low-Profile Obstacle Detection Sensor.
- Connectivity: Wi-Fi 6, Bluetooth 5.2.
- Audio: 4-microphone array, 5W speaker.
What's Included
The G1-D Flagship F package contains:
| Robot | G1-D Flagship F Unit | Complete mobile humanoid robot with wheeled chassis, vertical column, dual arms, and 2x Wuji Five-Finger Dexterous Hand 2. |
| Power | Battery & Charging System | 1x Chassis battery (30 Ah), 1x Chassis direct-charging adapter, 1x Charging station (51V, 10A). |
| Control | Remote Control | Handheld remote control included. |
| Compute | NVIDIA Jetson Orin | Integrated 100 TOPS computing module. |
| Warranty | 12-Month Warranty | 12-month warranty for the entire machine. |
Important Notes
- No Upper Body Battery: The upper body of this model cannot accommodate a battery. Power is supplied exclusively by the chassis battery or charging station.
- Wuji Hands: Equipped with Wuji Five-Finger Dexterous Hand 2. Note: Without tactile feedback.
- Power Configuration: Comes standard with 1 chassis battery, 1 chassis direct-charging adapter, and 1 charging station.
- Development: Custom development and Smart OTA updates supported.
- Warranty: 12-month warranty for the entire machine.
Technical Specifications
| Product Name | G1-D Flagship F Wheel Base Dual-Arm Humanoid |
| Total Degrees of Freedom | 59 (Single arm 7x2 + Waist 2 + Column 1 + Articulated Hand 20x2 + Base 2) |
| Weight with Battery | Approx. 198.4 lb (90 kg) |
| Dimensions (Min Height) | 49.6" x 20.7" x 22.4" (1260 x 525 x 570 mm) |
| Dimensions (Max Height) | 66.1" x 20.7" x 22.4" (1680 x 525 x 570 mm) |
| Hand Model | Wuji Five-Finger Dexterous Hand 2 (x2) |
| Hand Active DOF | 20 per hand |
| Hand Dimensions | 7.3" x 3.1" x 1.6" (185 x 80 x 40 mm) |
| Control Frequency | 1000 Hz x 20 axes |
| Control Mode | MIT force-position hybrid control |
| Communication Protocol | EtherNet (1000BASE-T) |
| Peak Finger Force | ≥ 3.37 lbf (≥ 15 N) |
| Opening/Closing Speed | ≥ 4 cycles/s |
| Joint Backlash | < 1° |
| Operating Voltage (Hand) | 16-58 V DC |
| Tactile Feedback | Not included |
| Wrist Camera Resolution | 1920 x 1080 |
| Chassis Battery | 30 Ah, 6 hours runtime |
| Computing Module | NVIDIA Jetson Orin 16G (100 TOPS) |
| Warranty | 12 months for the entire machine |
* Specifications are based on manufacturer data and may vary slightly by production batch.
* The upper body of this model cannot accommodate a battery.
* Equipped with Wuji Five-Finger Dexterous Hand 2 without tactile feedback.
* Unitree is a registered trademark of Unitree Robotics. Wuji is a trademark of the respective manufacturer.
Unitree
by
Unitree
Unitree G1-D Flagship F Wheel Base Dual-Arm Humanoid Robot
SKU:
G1-D-Flagship-F
- Regular price
- $79,900.00
- Sale price
- $79,900.00
- Regular price
-
Shipping calculated at checkout.
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Packaging note:
Equipment is being supplied in a manufacturer packaging
