HARDWARE COMPARISON

Compare robot hardware.

Choose two or three models from any manufacturer. Sources and configuration notes remain beside each value.

Manufacturer specifications with source dates and configuration notes
Specification	Unitree G1Unitree · Base G1	Unitree R1Unitree · Standard R1	Unitree H1Unitree · Original H1	AtlasBoston Dynamics · Electric product version	Figure 03Figure · Third generation	Digit 5Agility Robotics · Fifth generation	Apollo 2Apptronik · Second generation	NEO1X · Home robot Early Access	Walker S2UBTECH · S2 industrial humanoid	T800EngineAI · Pro edition	PM01EngineAI · 2026 Education edition	OliLimX Dynamics · EDU with two-finger grippers	GR-3Fourier · Optional 12-DOF hands	A3 UltraAGIBOT · Ultra service configuration	G2AGIBOT · G2 industrial platform	OptimusTesla · Gen 2 research prototype	4NE1NEURA Robotics · Gen 3.5	L7RobotEra · Full-size biped	IRONXPENG · Next-generation IRON	T1Booster Robotics · Standard edition
Body type	Humanoid	Humanoid	Humanoid	Humanoid	Humanoid	Humanoid	Humanoid / Wheeled Manipulator	Humanoid	Humanoid	Humanoid	Humanoid	Humanoid	Humanoid	Humanoid	Wheeled Manipulator	Humanoid	Humanoid	Humanoid	Humanoid	Humanoid
Product status	Online ordering	Online ordering	Sales inquiry	Limited Deployment	Availability unconfirmed	Prototype	Limited Deployment	Pre-order	Availability unconfirmed	Sales inquiry	Sales inquiry	Sales inquiry	Availability unconfirmed	Sales inquiry	Limited Deployment	Prototype	Availability unconfirmed	Sales inquiry	Prototype	Sales inquiry
Published height	132 cmStanding height. Converted from 1320 mm in the current table.Manufacturer source ↗Checked 8 October 2026	123 cmStanding height. Converted from 1230 mm in the current table.Manufacturer source ↗Checked 8 October 2026	About 180 cmManufacturer's rounded H1 body-height figure. The detailed dimensional expression is (1520 + 285) mm.Manufacturer source ↗Checked 8 October 2026	190 cmManufacturer product height.Manufacturer source ↗Checked 10 October 2026	About 173 cmConverted from the published 5 ft 8 in.Manufacturer source ↗Checked 10 October 2026	181 cmManufacturer rounded height of 1.81 m.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	About 168 cmConverted from 5 ft 6 in.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	173 cmShared stated height across the four T800 editions.Manufacturer source ↗Checked 10 October 2026	140 cmConverted from 1400 mm in the Education table.Manufacturer source ↗Checked 10 October 2026	165 cmManufacturer standing height.Manufacturer source ↗Checked 10 October 2026	164.2 cmTechnical table gives 1642 mm; the introductory text rounds to 165 cm.Manufacturer source ↗Checked 10 October 2026	174 cmCurrent A3 Ultra store table.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	180 cmHeight explicitly attributed to Gen 3.5 in the March 2026 event report.Manufacturer source ↗Checked 10 October 2026	171 cmChinese summary labels the height in cm. The English summary has a conflicting unit label.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	118 cmManufacturer dimensions are 118 × 47 × 23 cm.Manufacturer source ↗Checked 10 October 2026
Declared mass	About 35 kgIncludes battery.Manufacturer source ↗Checked 8 October 2026	About 29 kgIncludes battery.Manufacturer source ↗Checked 8 October 2026	About 47 kgListed as total weight. Battery inclusion is unspecified on the reviewed page.Manufacturer source ↗Checked 8 October 2026	90 kgBattery inclusion is not specified.Manufacturer source ↗Checked 10 October 2026	61 kgBattery inclusion is not specified.Manufacturer source ↗Checked 10 October 2026	129 kgManufacturer rounded mass; battery basis not specified.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	About 30 kgConverted from 66 lb; battery inclusion is not stated.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	75–85 kgConfiguration range; no exact Pro mass or battery basis is specified.Manufacturer source ↗Checked 10 October 2026	About 44 kgIncludes battery.Manufacturer source ↗Checked 10 October 2026	At most 55 kgIncludes battery.Manufacturer source ↗Checked 10 October 2026	About 71 kgListed net weight; battery inclusion is not explicit.Manufacturer source ↗Checked 10 October 2026	60 kgCurrent store table; battery basis not specified.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	About 30 kgBattery inclusion is not specified.Manufacturer source ↗Checked 10 October 2026
Published DOF count	23Manufacturer's total joint-freedom count for base G1.Manufacturer source ↗Checked 8 October 2026	26Manufacturer's total-joints count for standard R1; optional EDU hands excluded.Manufacturer source ↗Checked 8 October 2026	19Unitree's official H1 model description states 19 body joints for basic H1 without dexterous hands.Manufacturer source ↗Checked 8 October 2026	56Published total. A body-versus-hand breakdown is not provided.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	31 body + 44 hand DOFBody sum from two 7-DOF arms, two 6-DOF legs, neck 3 and spine 2. Each hand has 22 DOF. These are not all established as independent actuators.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	43 stated; breakdown conflictsPro headline is 29 body + 14 hand. The component rows sum to 30 body + 14 hand. Do not use this as a reconciled count.Manufacturer source ↗Checked 10 October 2026	24 body joints5 per arm, 6 per leg, 1 waist and 1 neck.Manufacturer source ↗Checked 10 October 2026	33 including grippers31 body DOF plus two one-DOF grippers.Manufacturer source ↗Checked 10 October 2026	55 including optional hands31 body joints plus two 12-DOF hands.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	55 statedPublished count; the summary does not define which hand joints it includes.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	23 body joints4 per arm, 6 per leg, 1 waist and 2 head. Customized hand configurations differ.Manufacturer source ↗Checked 10 October 2026
Payload	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	30 kg sustained; 50 kg instantTwo different load ratings. Neither is a single-arm rating.Manufacturer source ↗Checked 10 October 2026	20 kgProduct-page payload. Arm allocation and posture are not stated.Manufacturer source ↗Checked 10 October 2026	22.7 kg repeated liftEquivalent to the announced 50 lb repeated-load rating.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established in the profile.	55 lb carry; 18 lb per armWhole-robot carrying and arm payload are different ratings.Manufacturer source ↗Checked 10 October 2026	15 kgManufacturer load claim within a 0 to 1.8 m workspace. Per-arm allocation is not specified.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	3 kg per armMaximum single-arm load; posture conditions not supplied.Manufacturer source ↗Checked 10 October 2026	About 3 kg per armSingle-arm rating.Manufacturer source ↗Checked 10 October 2026	Objects up to 5 kgItem-handling claim. Not a sustained whole-body or single-arm benchmark.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	20 kg across both armsDual-arm load. Duration, posture and per-arm allocation are not specified.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.
Movement speed	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	1.2 m/sPublished movement speed; test procedure is not supplied.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	1.4 m/s walkingWalking specification, separate from the running claim.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established in the profile.	At least 2 m/s hardware claimHardware-supported movement speed, not a measured autonomous walking result.Manufacturer source ↗Checked 10 October 2026	More than 2 m/s hardware claimHardware-supported moving speed; no walking protocol supplied.Manufacturer source ↗Checked 10 October 2026	5 km/hMaximum moving speed from the EDU table.Manufacturer source ↗Checked 10 October 2026	6.1 km/hPublished walking speed.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.	Not statedNo value for this configuration is established in the profile.
Battery duration	About 2 hManufacturer estimate. Task, speed and test conditions are unspecified; parameters can vary by scenario and configuration.Manufacturer source ↗Checked 8 October 2026	About 1 hManufacturer estimate. Task, speed and test conditions are unspecified; parameters can vary by scenario and configuration.Manufacturer source ↗Checked 8 October 2026	Not statedThe page gives 864 Wh battery capacity, not operating duration.Manufacturer source ↗Checked 8 October 2026	4 hManufacturer estimate without a shared task workload.Manufacturer source ↗Checked 10 October 2026	5 hProduct-page estimate. Workload is not stated.Manufacturer source ↗Checked 10 October 2026	90 minutesAnnounced runtime with a nine-minute charge; task workload is unspecified.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	4 hManufacturer estimate; workload unspecified.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	3–5 hPro table estimate. The overview separately advertises four hours; workload is unspecified.Manufacturer source ↗Checked 10 October 2026	2 hManufacturer estimate, without task workload.Manufacturer source ↗Checked 10 October 2026	About 1.5 hCurrent EDU table estimate; workload unspecified.Manufacturer source ↗Checked 10 October 2026	About 3 hManufacturer estimate; workload unspecified.Manufacturer source ↗Checked 10 October 2026	Up to 8 hManufacturer FAQ specifies equal time walking and standing; task and configuration affect runtime.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	Not statedNo value for this configuration is established by the cited source.Manufacturer source ↗Checked 10 October 2026	2 h walking; 4 h standingSeparate manufacturer estimates; no common endurance test with other models.Manufacturer source ↗Checked 10 October 2026
Hardware and sensors	Compute Eight-core CPU. No high-compute module listed for base G1. Sensing Depth camera and 3D LiDAR. The page does not name their models. Joints Internal-rotor permanent-magnet synchronous motors and dual encoders. Knee torque Up to 90 N m as a manufacturer maximum. Arm load About 2 kg. The rating varies with arm posture. Battery pack Quick-release 13-series lithium pack rated at 9,000 mAh. Profile and sources ↗	Compute Eight-core processor. No high-compute module listed for standard R1. Vision Binocular camera. R1 Air has a monocular camera. Audio Four-microphone array and speaker. Joints Internal-rotor permanent-magnet synchronous motors, mixed dual and single encoders, local air cooling. Battery Quick-release lithium pack. The model page gives no pack capacity. Profile and sources ↗	Compute Intel Core i5 for platform functions and Intel Core i7 for user development. Additional compute is optional. Sensing Depth camera and 3D LiDAR. Sensor models are not named in the product table. Battery Removable pack rated at 864 Wh. Capacity does not establish operating duration. Profile and sources ↗	Actuation Electric joints. Continuous range of motion is listed. Sensing Tactile sensing and a 360-degree camera view. Power Automatic battery replacement at a station. Protection IP67 rating stated by the manufacturer. Profile and sources ↗	Drive system Electric. Payload 20 kg, with no per-arm condition specified. Profile and sources ↗	Actuation Cycloidal actuators and redesigned legs. Sensing Onboard cameras, depth sensors and IMUs. End effectors Swappable grippers with ISO mounting flanges. Safety control Independent controller for responses to nearby people. Profile and sources ↗	Mobility Bipedal configuration or wheeled base. Actuation Apptronik proprietary actuator technology. Power Replaceable batteries, opportunity charging and tethered power. Operator display Chest screen, LED mouth and status lighting. Profile and sources ↗	Battery 842 Wh. Compute NEO Cortex with NVIDIA Jetson Thor. Vision Two 8.85 MP stereo fisheye cameras at 90 Hz. Actuation and sensing Tendon drives and linkwise IMUs. Profile and sources ↗	Vision Head-mounted passive RGB stereo cameras estimate depth. Power Two packs with switching between one-pack and two-pack operation. Waist High-torque servo drive; published rotation up to ±162 degrees. Profile and sources ↗	Arms and legs 7 DOF per arm and 6 per leg. Hands 7 DOF per hand. Vision Binocular camera and 3D LiDAR. Compute Eight-core CPU and AGX Orin 64 GB; Thor offered on request. Motors Internal-rotor permanent-magnet synchronous motors; air cooling. Profile and sources ↗	Actuation Permanent-magnet synchronous motors; peak joint torque 164 N m. Vision Binocular cameras at head and waist; no LiDAR in Education configuration. Compute Eight-core CPU and NVIDIA Jetson Orin NX 16 GB. Power Quick-release pack; quoted full charge takes two hours. Profile and sources ↗	Power 9,500 mAh slide-out battery. Compute RK3588 motion controller and Orin NX 16 GB for perception. Sensing Six-axis IMU; camera and LiDAR fitment depends on the configuration table. Profile and sources ↗	Power 702 Wh and 234 Wh packs; hot swapping is supported. Compute and OS AMD Ryzen 7 8845HS running Ubuntu 22.04. Sensors Monocular camera, six-axis IMU, tactile head and torso sensors, absolute encoders. Profile and sources ↗	Joints 7 DOF per arm, 6 per leg and 3 at the waist; up to 20-DOF Omnihands. Compute 700 TOPS; processor model and arithmetic precision are not identified. Power Dual battery bays, autonomous charging and a stated ten-second replacement. Profile and sources ↗	Protection IP42 machine protection stated on the product page. Manipulation Force-controlled operation for assembly. Profile and sources ↗	Actuation Tesla-designed actuators. Sensing Tesla-designed sensors; models and quantities are not stated in the verified description. Mechanical revision Articulated neck and revised hands. Profile and sources ↗	Generation Gen 3.5 identified in the manufacturer event report. Documented use Visitor conversation and interaction at the Stuttgart event. Profile and sources ↗	Mobility Two-legged body. Manipulation Dual arms; a 20 kg combined load is listed. Profile and sources ↗	Hands 22 DOF per hand; total body count is not supplied. Compute Three XPENG Turing chips. Sensing Tactile sensors under a flexible outer skin. Power All-solid-state battery described; capacity and runtime are not given. Profile and sources ↗	Compute Intel i7-1370P and NVIDIA AGX Orin. Sensors Depth camera, nine-axis IMU and dual joint encoders. Power 10.5 Ah battery. Joints Peak torque up to 130 N m. Profile and sources ↗
Control and software	The official store says base G1 does not support secondary development and directs customization buyers to EDU. A manual controller is listed. The sources do not quantify autonomous task completion. Profile and source ↗	The official store says only R1 EDU supports secondary development. Standard R1 includes a manual controller, but the reviewed sources do not quantify autonomous task completion. Profile and source ↗	The page describes locomotion and control hardware but gives no task-level autonomy test or success rate. Profile and source ↗	Material handling uses autonomous control with supervision. Orbit is the stated fleet integration platform. The product page does not detail a public ROS 2 or teleoperation interface. Profile and source ↗	The manufacturer describes household work under its Helix controller. A public developer SDK, operating system and ROS 2 interface are not established by these sources. Profile and source ↗	Agility Arc coordinates fleets and warehouse systems. Features remain in development; announced workflows need site-specific validation. Profile and source ↗	Artemis coordinates perception, planning and body control. Fleet Connect manages tasks and robot status. The page does not establish public ROS 2, SDK or simulation access. Profile and source ↗	Redwood handles learned tasks. App and VR remote control are listed alongside scheduled Expert Mode. Public ROS 2 and SDK access are not specified. Profile and source ↗	The robot monitors its packs and chooses between charging and replacement according to task priorities. UBTECH describes whole-body dynamic balancing for bending and lifting. Profile and source ↗	Pro lists secondary development and a handheld controller. SDK/API documentation defines available functions. The manufacturer says some illustrated functions remain under development. Profile and source ↗	The Education table lists secondary development, a handheld controller and a chest touchscreen. Confirm OS, ROS 2 and simulation tools against the delivered SDK. Profile and source ↗	The manufacturer lists low-level and high-level motion APIs, sensor APIs and custom development. Confirm the selected sensors and supplied software package before ordering. Profile and source ↗	Fourier documents immersive VR or exoskeleton teleoperation and voice interaction. This source does not quantify autonomous caregiving performance. Profile and source ↗	AGIBOT describes navigation and obstacle avoidance. Open interfaces and development versions are offered. The store warns that application workflows require integration and validation. Profile and source ↗	AGIBOT describes Genie RL for task development. The product page alone does not establish a public operating system or ROS 2 interface. Profile and source ↗	Tesla describes autonomy, balance, navigation and physical interaction as development objectives. A launch video does not establish an unattended task success rate. Profile and source ↗	The event report does not state how much of Gen 3.5 visitor interaction was autonomous or remotely operated. Family-level control claims are not a measured result for this event. Profile and source ↗	RobotEra links its wider product line to ERA-42 research. The retrieved L7 summary does not define a supplied autonomy package, OS or public ROS 2 interface. Profile and source ↗	XPENG assigns perception to VLM, decisions to VLT and whole-body control to VLA. A public SDK, ROS 2 interface and operating system are not established here. Profile and source ↗	Booster lists development APIs and open-source tools. The product page does not establish a particular ROS 2 version or default autonomous task policy. Profile and source ↗
Price and availability	Unitree lists the base G1 at USD 13,500 before tax and shipping. Its store lists delivery details on request. A dated quote is needed for destination charges and delivery timing. Online ordering does not establish stock or a dispatch date for this exact edition; confirm both before purchase. Dated source ↗	The standard R1 is listed at USD 5,900 before tax and shipping. The lower USD 4,900 headline applies to R1 Air. Confirm the selected variant and delivery date with Unitree. Online ordering does not establish stock or a dispatch date for this exact edition; confirm both before purchase. Dated source ↗	The official store displays USD 90,000 and also says to contact Unitree for the actual H1 price. It supplies no confirmed delivery date. Treat the display as a reference and request a dated configuration quote. Dated source ↗	Selected early-adopter projects are handled through Boston Dynamics. No public fixed price is shown. Dated source ↗	The official pages describe the product but do not provide a public checkout price or a confirmed delivery date. Dated source ↗	Agility plans early access in the first half of 2027 and general availability by the end of 2027. A fixed public price is not given. Dated source ↗	Apptronik handles projects through direct inquiries. Public pricing and an open delivery schedule are not stated. Dated source ↗	On 10 October 2026 the order page lists USD 20,000 Early Access ownership or a USD 499 monthly option, with a USD 200 refundable deposit. US deliveries are advertised from 2026; a specific delivery date is not guaranteed. Dated source ↗	Contact UBTECH for the S2 configuration, price, installation and delivery terms. The reviewed page does not establish an open retail delivery schedule. Dated source ↗	The manufacturer accepts purchase inquiries by configuration. A public Pro price and firm delivery date are not provided. Dated source ↗	The official page offers purchase access. Request pricing for the 2026 Education configuration and the destination. Dated source ↗	The product page offers a purchase inquiry. A current price for this EDU configuration is not established here. Dated source ↗	Technical documentation is public. Confirm sales availability, configuration, price and delivery with Fourier. Dated source ↗	The store quotes A3 Ultra on request. Configuration, delivery country, installation and schedule must be agreed with sales. Dated source ↗	AGIBOT reports industrial installations and handles orders through sales. A configuration-specific public price is not provided. Dated source ↗	This entry documents a research prototype. The cited Tesla sources do not offer Gen 2 for retail purchase. Dated source ↗	NEURA lists reservations for the 4NE1 family. Confirm that a reservation covers Gen 3.5 and request its price and delivery terms. Dated source ↗	The manufacturer provides a purchase inquiry. Price, delivered hand configuration and schedule require a quote. Dated source ↗	The technology page gives no public robot price or confirmed customer delivery terms. Dated source ↗	The official T1 page provides purchase access. Confirm Standard availability and pricing; the main site also lists the newer T2. Dated source ↗
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