Unitree G1 vs R1 vs H2
Last reviewed: 1 September 2026
In short: all three are bipedal Unitree humanoids, but at different scales. Unitree R1 is the lightest and most affordable (1.23 m, ≈ 29 kg), with an on-board GPU compute module, good for development and applied AI. Unitree G1 is the mid platform, mature and well-equipped with sensors (1.32 m, ≈ 35 kg, depth camera + 3D LiDAR), for research and navigation. Unitree H2 is the top of the range, a full-size humanoid (1.82 m, ≈ 70 kg), with 31 degrees of freedom, up to 360 N·m of leg torque, a 7-DoF arm, a bionic head and compute up to Jetson AGX Thor (2070 TOPS), for advanced locomotion and manipulation research and showcase. In short: R1 is the agile entry model, G1 balances research and sensors, and H2 brings power and full-size scale.
Who each is for
Unitree G1
- ✓Research and navigation with a depth camera + 3D LiDAR
- ✓Balanced platform (≈ 35 kg, 1.32 m)
- ✓9000 mAh smart battery, ≈ 2 h battery life
- ✓Suited to labs and education
Unitree R1
- ✓Lightest and most affordable (≈ 29 kg, 1.23 m)
- ✓On-board GPU compute module
- ✓26 joints, mobile waist and head
- ✓Good for development and applied AI
Unitree H2
- ✓Full-size humanoid (1.82 m, ≈ 70 kg), the most powerful
- ✓Up to 360 N·m of leg torque, 31 degrees of freedom
- ✓7-DoF arm, ≈ 7 kg nominal arm payload
- ✓Bionic head + compute up to Jetson AGX Thor (2070 TOPS), EDU version with SDK
The differences that matter
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| Unitree G1 | Unitree R1 | Unitree H2 | |
|---|---|---|---|
| Dimensions (standing) | 1320 × 450 × 200 mm | 1230 × 357 × 190 mm | 1820 × 456 × 218 mm |
| Weight (with battery) | ≈ 35 kg | ≈ 29 kg | ≈ 70 kg |
| Degrees of freedom / motors (total) | 23 | 26 | 31 |
| Arm degrees of freedom | 5 | 5 | 7 |
| Waist degrees of freedom | 1 | 2 | 3 |
| Head degrees of freedom | - | 2 | 2 |
| Max leg joint torque | 90 N·m | - | 360 N·m |
| Max arm payload | ≈ 2 kg | ≈ 2 kg | ≈ 7 kg |
| Perception sensors | Depth camera + 3D LiDAR | Binocular camera (ultra-wide angle) | Humanoid binocular camera (wide field of view) |
| Compute module | 8-core high-performance CPU | 8-core CPU + GPU | Intel Core i5 (optional Jetson AGX Thor, 2070 TOPS) |
| Speakers | 5W, stereo | 2× 3W, stereo | High-power speaker |
| Battery | Smart, 9000 mAh | Detachable (hot-swap) | Smart, 15 Ah, hot-swap |
| Battery life | ≈ 2 h | - | ≈ 3 h |
Compared specifications
Dimensions & mass
| Unitree G1 | Unitree R1 | Unitree H2 | |
|---|---|---|---|
| Type | Bipedal humanoid robot | Bipedal humanoid robot | Bipedal humanoid robot |
| Dimensions (standing) | 1320 × 450 × 200 mm | 1230 × 357 × 190 mm | 1820 × 456 × 218 mm |
| Weight (with battery) | ≈ 35 kg | ≈ 29 kg | ≈ 70 kg |
| Manufacturer | Unitree Robotics | Unitree Robotics | Unitree Robotics |
Motion & joints
| Unitree G1 | Unitree R1 | Unitree H2 | |
|---|---|---|---|
| Degrees of freedom / motors (total) | 23 | 26 | 31 |
| Leg degrees of freedom | 6 | 6 | 6 |
| Arm degrees of freedom | 5 | 5 | 7 |
| Waist degrees of freedom | 1 | 2 | 3 |
| Head degrees of freedom | - | 2 | 2 |
| Max leg joint torque | 90 N·m | - | 360 N·m |
| Max arm payload | ≈ 2 kg | ≈ 2 kg | ≈ 7 kg |
Perception, compute & power
| Unitree G1 | Unitree R1 | Unitree H2 | |
|---|---|---|---|
| Perception sensors | Depth camera + 3D LiDAR | Binocular camera (ultra-wide angle) | Humanoid binocular camera (wide field of view) |
| Compute module | 8-core high-performance CPU | 8-core CPU + GPU | Intel Core i5 (optional Jetson AGX Thor, 2070 TOPS) |
| Microphones | 4 (noise-cancelling) | 4 (microphone array) | Microphone array |
| Speakers | 5W, stereo | 2× 3W, stereo | High-power speaker |
| Battery | Smart, 9000 mAh | Detachable (hot-swap) | Smart, 15 Ah, hot-swap |
| Battery life | ≈ 2 h | - | ≈ 3 h |
All three are bipedal Unitree humanoids with 6-DoF legs, the difference is scale and equipment: R1 is light and agile, G1 adds 3D LiDAR and balance for research, and H2 is full-size, with far more power (360 N·m torque), more joints (31) and top-tier compute. All have EDU versions with secondary development (SDK).
Frequently asked questions
What's the difference between Unitree G1, R1 and H2?
They are three Unitree humanoids at different scales: R1 is the lightest and most affordable (1.23 m, ≈ 29 kg), G1 is the mid platform with 3D LiDAR (1.32 m, ≈ 35 kg), and H2 is full-size and the most powerful (1.82 m, ≈ 70 kg, 31 degrees of freedom, 360 N·m leg torque).
Which is the most powerful?
Unitree H2, with up to 360 N·m of leg joint torque (vs ≈ 90 N·m on G1), 31 degrees of freedom, a 7-DoF arm and ≈ 7 kg nominal arm payload.
Which fits research on a smaller budget?
R1 for affordable entry and development (it has an on-board GPU), or G1 if you need 3D LiDAR for mapping and navigation. H2 is for advanced research and applications that require full-size power and scale.
Do they have EDU versions and an SDK?
Yes. G1, R1 and H2 all have EDU variants with secondary development (SDK). See also our Unitree G1 vs G1 EDU and Unitree G1 vs R1 comparisons for details.
Do they have a public price?
No, all are quote-based. IRIS Robotics sells Unitree robots in Romania and provides pricing, configuration, integration, training and technical support.
Sources
Not sure which Unitree humanoid fits you?
Tell us your use case and budget (development, research, navigation, showcase) and we'll recommend the right model, G1, R1 or H2, with pricing, integration and training.
Request consultingBuying from IRIS Robotics: key facts
IRIS Robotics sells the Unitree models in this comparison across the EU, priced in the quote by configuration, with delivery, commissioning, training and support from Iași, Romania.
Key facts
- Price
- On quote, by model and configuration. The quote includes shipping, the VAT treatment and the delivery lead time.
- Lead time
- In-stock products ship in 3-5 working days. Products ordered from the manufacturer usually arrive in 3-4 weeks. For robots, the exact lead time is in the quote.
- Delivery
- From Iași, Romania, to every EU country. The shipping cost and the lead time are confirmed before you order, at checkout or in the quote.
- VAT
- Consumer prices include the VAT of the delivery country. Businesses with a VAT number valid in VIES are invoiced without VAT (reverse charge) when the goods ship to another EU country.
- Warranty
- Unitree manufacturer warranty: 12 months on the robot and 6 months on the battery. On top of that, the legal guarantee for consumers and a 12-month IRIS commercial warranty for businesses.
- Contact
- +40 738 435 679, WhatsApp +40 725 489 118, contact@irisrobotics.ro