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Description

Unitree Robotics -- Official Humanoid Robot

Unitree G1-D Standard F Fixed Base Dual-Arm

G1-D Series Fixed Base 57 DOF 2x Wuji Hands 100 TOPS

The ultimate fixed-base dual-arm humanoid robot for advanced manipulation research. The G1-D Standard F builds upon the G1-D Standard A platform, replacing standard grippers with 2x Wuji Five-Finger Dexterous Hand 2 units. Featuring an extraordinary 57 total degrees of freedom (17 body + 40 hand), 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. Includes vertical column travel for expanded workspace.

57
Total DOF
20
Hand DOF (each)
1000Hz
Control Freq
100
TOPS Compute
198.4 lb
Weight
12 mo
Warranty
Standard F vs. Standard A: The G1-D Standard F includes all features of the G1-D Standard A fixed-base robot but replaces the standard Dex1-1 grippers with the advanced Wuji Five-Finger Dexterous Hand 2. This increases the total system DOF from 19 to 57, enabling unprecedented dexterity for complex manipulation tasks.

Product Overview

The Unitree G1-D Standard F is a high-performance fixed-base dual-arm humanoid robot designed for advanced research and manipulation tasks. It integrates the robust G1-D Standard A body with a vertical column for height adjustment and the next-generation Wuji dexterous hands.

The robot features a 17-DOF body (7 DOF per arm, 2 DOF waist, 1 DOF vertical column) capable of lifting the upper body 16.5" (420 mm) with 1mm accuracy. The centerpiece is the pair of Wuji Five-Finger Dexterous Hand 2 units, each offering 20 active DOF, directly connected rotary joints with backdriving, and 1000Hz control frequency via EtherNet. The system is powered by an NVIDIA Jetson Orin 16G module providing 100 TOPS of computing power for AI and control algorithms.

57 DOF System

17 body DOF plus 40 hand DOF (20 per hand) deliver human-like dexterity. The most capable fixed-base manipulation platform available.

Wuji Dexterous Hands

20 active DOF per hand with full opposable fingers, lateral sway, and backdriving. 1000Hz control via EtherNet with MIT hybrid control.

Vertical Column Travel

16.5" (420 mm) vertical travel with 1mm accuracy allows the robot to adjust its working height dynamically.

100 TOPS Computing

NVIDIA Jetson Orin 16G module provides massive computing power for onboard AI, vision processing, and real-time control.

Wuji Five-Finger Dexterous Hand 2

The G1-D Standard F is equipped with 2x Wuji Five-Finger Dexterous Hand 2 (without tactile feedback, with wrist camera):

Wuji Hand Specifications (Per Hand)

  • Active DOF: 20 DOF per hand.
  • Configuration: Full opposable fingers, supports lateral sway.
  • Kinematics: Directly connected rotary joints, supports backdriving.
  • Dimensions: 7.3" x 3.1" x 1.6" (185 x 80 x 40 mm) frame.
  • Min Grip Diameter: 0 (can grasp very thin objects).
  • Control Frequency: 1000 Hz x 20 axes.
  • Control Mode: MIT force-position hybrid control.
  • Communication: EtherNet (1000BASE-T).
  • Peak Finger Force: ≥ 3.37 lbf (≥ 15 N).
  • Speed: ≥ 4 cycles/s opening/closing.
  • Backlash: < 1°.
  • Voltage: 16-58 V DC.
  • Wrist Camera: RGB camera included (FOV: D: 130°, H: 120°, V: 81°; Resolution: 1920 x 1080).

G1-D Standard A Base Features

The robot body includes all features of the G1-D Standard A:

Base Robot Specifications

  • Dimensions (Min Height): 49.6" x 24.4" x 24.4" (1260 x 620 x 620 mm).
  • Dimensions (Max Height): 66.1" x 24.4" x 24.4" (1680 x 620 x 620 mm).
  • Weight: Approx. 198.4 lb (90 kg) with battery.
  • Body DOF: 17 (7 per arm + 2 waist + 1 column).
  • Arm Payload: Approx. 6.6 lb (3 kg).
  • Arm Reach: Approx. 17.7" (0.45 m).
  • Waist Motion: Z ±155°, Y -2.5° to +135°.
  • Vertical Travel: 16.5" (420 mm); Accuracy: 1 mm; Speed: up to 60 mm/s.
  • Max Operating Height: Approx. 2 meters.
  • Computing: 8-core CPU + NVIDIA Jetson Orin 16G (100 TOPS).
  • Battery: 9,000 mAh smart battery (quick-release); 2 hours runtime.
  • Connectivity: Wi-Fi 6, Bluetooth 5.2.
  • Audio: 4-microphone array, 5W speaker.
  • Head Camera: High-definition dual-lens (3840 x 1200 resolution).

What's Included

The G1-D Standard F package contains:

Robot G1-D Standard F Unit Complete fixed-base humanoid robot with vertical column, dual arms, and 2x Wuji Five-Finger Dexterous Hand 2.
Power Battery & Charger 1x Smart battery (9,000 mAh), 1x Battery charger (54V 5A), 1x Direct AC power cable.
Control Remote Control Handheld remote control included.
Compute NVIDIA Jetson Orin Integrated 100 TOPS computing module for AI and control.
Warranty 12-Month Warranty 12-month warranty for the entire machine.

Important Notes

  • Fixed Base: This is a fixed-base robot with a vertical column, not a mobile humanoid.
  • Wuji Hands: Equipped with Wuji Five-Finger Dexterous Hand 2 (without tactile feedback). Includes a wrist RGB camera.
  • Power: Can operate on battery (2 hours) or direct AC power.
  • Development: Custom development and Smart OTA updates supported.
  • Warranty: 12-month warranty for the entire machine.

Technical Specifications

Product Name G1-D Standard F Fixed Base Dual-Arm Humanoid
Total Degrees of Freedom 57 (17 body + 40 hands)
Body DOF 17 (7 per arm, 2 waist, 1 column)
Hand DOF 20 per hand (Wuji Five-Finger Dexterous Hand 2)
Weight Approx. 198.4 lb (90 kg)
Dimensions (Min Height) 49.6" x 24.4" x 24.4" (1260 x 620 x 620 mm)
Dimensions (Max Height) 66.1" x 24.4" x 24.4" (1680 x 620 x 620 mm)
Vertical Travel 16.5" (420 mm)
Max Arm Payload Approx. 6.6 lb (3 kg)
Arm Reach Approx. 17.7" (0.45 m)
Computing Module NVIDIA Jetson Orin 16G (100 TOPS)
Hand Control Frequency 1000 Hz
Hand Communication EtherNet (1000BASE-T)
Battery Runtime 2 hours
Warranty 12 months

* Specifications are based on manufacturer data and may vary slightly by production batch.

* The G1-D Standard F includes the Wuji Five-Finger Dexterous Hand 2 without tactile feedback.

* Fixed base configuration with vertical column travel.

* 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 Standard F Fixed Base Dual-Arm

G1-D Series Fixed Base 57 DOF 2x Wuji Hands 100 TOPS

The ultimate fixed-base dual-arm humanoid robot for advanced manipulation research. The G1-D Standard F builds upon the G1-D Standard A platform, replacing standard grippers with 2x Wuji Five-Finger Dexterous Hand 2 units. Featuring an extraordinary 57 total degrees of freedom (17 body + 40 hand), 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. Includes vertical column travel for expanded workspace.

57
Total DOF
20
Hand DOF (each)
1000Hz
Control Freq
100
TOPS Compute
198.4 lb
Weight
12 mo
Warranty
Standard F vs. Standard A: The G1-D Standard F includes all features of the G1-D Standard A fixed-base robot but replaces the standard Dex1-1 grippers with the advanced Wuji Five-Finger Dexterous Hand 2. This increases the total system DOF from 19 to 57, enabling unprecedented dexterity for complex manipulation tasks.

Product Overview

The Unitree G1-D Standard F is a high-performance fixed-base dual-arm humanoid robot designed for advanced research and manipulation tasks. It integrates the robust G1-D Standard A body with a vertical column for height adjustment and the next-generation Wuji dexterous hands.

The robot features a 17-DOF body (7 DOF per arm, 2 DOF waist, 1 DOF vertical column) capable of lifting the upper body 16.5" (420 mm) with 1mm accuracy. The centerpiece is the pair of Wuji Five-Finger Dexterous Hand 2 units, each offering 20 active DOF, directly connected rotary joints with backdriving, and 1000Hz control frequency via EtherNet. The system is powered by an NVIDIA Jetson Orin 16G module providing 100 TOPS of computing power for AI and control algorithms.

57 DOF System

17 body DOF plus 40 hand DOF (20 per hand) deliver human-like dexterity. The most capable fixed-base manipulation platform available.

Wuji Dexterous Hands

20 active DOF per hand with full opposable fingers, lateral sway, and backdriving. 1000Hz control via EtherNet with MIT hybrid control.

Vertical Column Travel

16.5" (420 mm) vertical travel with 1mm accuracy allows the robot to adjust its working height dynamically.

100 TOPS Computing

NVIDIA Jetson Orin 16G module provides massive computing power for onboard AI, vision processing, and real-time control.

Wuji Five-Finger Dexterous Hand 2

The G1-D Standard F is equipped with 2x Wuji Five-Finger Dexterous Hand 2 (without tactile feedback, with wrist camera):

Wuji Hand Specifications (Per Hand)

  • Active DOF: 20 DOF per hand.
  • Configuration: Full opposable fingers, supports lateral sway.
  • Kinematics: Directly connected rotary joints, supports backdriving.
  • Dimensions: 7.3" x 3.1" x 1.6" (185 x 80 x 40 mm) frame.
  • Min Grip Diameter: 0 (can grasp very thin objects).
  • Control Frequency: 1000 Hz x 20 axes.
  • Control Mode: MIT force-position hybrid control.
  • Communication: EtherNet (1000BASE-T).
  • Peak Finger Force: ≥ 3.37 lbf (≥ 15 N).
  • Speed: ≥ 4 cycles/s opening/closing.
  • Backlash: < 1°.
  • Voltage: 16-58 V DC.
  • Wrist Camera: RGB camera included (FOV: D: 130°, H: 120°, V: 81°; Resolution: 1920 x 1080).

G1-D Standard A Base Features

The robot body includes all features of the G1-D Standard A:

Base Robot Specifications

  • Dimensions (Min Height): 49.6" x 24.4" x 24.4" (1260 x 620 x 620 mm).
  • Dimensions (Max Height): 66.1" x 24.4" x 24.4" (1680 x 620 x 620 mm).
  • Weight: Approx. 198.4 lb (90 kg) with battery.
  • Body DOF: 17 (7 per arm + 2 waist + 1 column).
  • Arm Payload: Approx. 6.6 lb (3 kg).
  • Arm Reach: Approx. 17.7" (0.45 m).
  • Waist Motion: Z ±155°, Y -2.5° to +135°.
  • Vertical Travel: 16.5" (420 mm); Accuracy: 1 mm; Speed: up to 60 mm/s.
  • Max Operating Height: Approx. 2 meters.
  • Computing: 8-core CPU + NVIDIA Jetson Orin 16G (100 TOPS).
  • Battery: 9,000 mAh smart battery (quick-release); 2 hours runtime.
  • Connectivity: Wi-Fi 6, Bluetooth 5.2.
  • Audio: 4-microphone array, 5W speaker.
  • Head Camera: High-definition dual-lens (3840 x 1200 resolution).

What's Included

The G1-D Standard F package contains:

Robot G1-D Standard F Unit Complete fixed-base humanoid robot with vertical column, dual arms, and 2x Wuji Five-Finger Dexterous Hand 2.
Power Battery & Charger 1x Smart battery (9,000 mAh), 1x Battery charger (54V 5A), 1x Direct AC power cable.
Control Remote Control Handheld remote control included.
Compute NVIDIA Jetson Orin Integrated 100 TOPS computing module for AI and control.
Warranty 12-Month Warranty 12-month warranty for the entire machine.

Important Notes

  • Fixed Base: This is a fixed-base robot with a vertical column, not a mobile humanoid.
  • Wuji Hands: Equipped with Wuji Five-Finger Dexterous Hand 2 (without tactile feedback). Includes a wrist RGB camera.
  • Power: Can operate on battery (2 hours) or direct AC power.
  • Development: Custom development and Smart OTA updates supported.
  • Warranty: 12-month warranty for the entire machine.

Technical Specifications

Product Name G1-D Standard F Fixed Base Dual-Arm Humanoid
Total Degrees of Freedom 57 (17 body + 40 hands)
Body DOF 17 (7 per arm, 2 waist, 1 column)
Hand DOF 20 per hand (Wuji Five-Finger Dexterous Hand 2)
Weight Approx. 198.4 lb (90 kg)
Dimensions (Min Height) 49.6" x 24.4" x 24.4" (1260 x 620 x 620 mm)
Dimensions (Max Height) 66.1" x 24.4" x 24.4" (1680 x 620 x 620 mm)
Vertical Travel 16.5" (420 mm)
Max Arm Payload Approx. 6.6 lb (3 kg)
Arm Reach Approx. 17.7" (0.45 m)
Computing Module NVIDIA Jetson Orin 16G (100 TOPS)
Hand Control Frequency 1000 Hz
Hand Communication EtherNet (1000BASE-T)
Battery Runtime 2 hours
Warranty 12 months

* Specifications are based on manufacturer data and may vary slightly by production batch.

* The G1-D Standard F includes the Wuji Five-Finger Dexterous Hand 2 without tactile feedback.

* Fixed base configuration with vertical column travel.

* Unitree is a registered trademark of Unitree Robotics. Wuji is a trademark of the respective manufacturer.

Unitree by Unitree

Unitree G1-D Standard F Fixed base Dual-Arm Humanoid Robot

SKU: G1-D-F
$68,900.00
$68,900.00
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

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