A general-purpose AI model for controlling robots. Unitree's own training kit for the G1 can run this outside model.
Part priceListedFree
GR00TIn storeListedFreeConfirmed
Nvidia's AI model for humanoid robots. Unitree's own training kit for the G1 can run this outside model.
Part priceListedFree
Brain layer 2 of 5
Chip
The computer inside the robot that runs it.
Rockchip RK3588Basic G1, as tested for the FCC in 2025In storeListedUS$149 for a board built around itConfirmed
An eight-core processor with a built-in AI accelerator, common in small computers and smart devices. The built-in computer is a Rockchip RK3588S, the compact version of the RK3588. It is clearly marked in the internal photos Unitree filed with the US FCC, and a published teardown of the G1 agrees.
Part priceListedUS$149 for a board built around it
Rockchip does not publish a price for the chip on its own. This is FriendlyElec's price for its CM3588 board with the RK3588, 4 GB of memory and 64 GB of storage, shown in stock. It is not the board inside the X2.
Single-unit store price. Robot companies buying in volume usually pay less.
A small, powerful computer made for running AI inside machines. The EDU version adds a development computer, which Unitree's developer guide lists as a Jetson Orin NX. Unitree says it may ship a more advanced module in its place.
Part priceListedUS$699
The launch price of the Orin NX 16GB module on its own. Reports in 2026 say Nvidia has since raised Jetson prices sharply, with this module's volume price going from US$599 to US$999.
Single-unit store price. Robot companies buying in volume usually pay less.
Livox MID-360Mid-360 before April 2026, Mid-360S afterIn storeListedUS$749Confirmed
A small laser scanner that sees all the way round. Unitree's developer guide says a Livox Mid-360 lidar sits in the middle of the G1's head, and that G1s made from April 2026 use the newer Mid-360S.
Part priceListedUS$749
Livox's own price for a single unit when it launched in January 2023. Resellers list it at around US$900 today, and Livox quotes lower prices for bulk orders.
Single-unit store price. Robot companies buying in volume usually pay less.
Four-microphone arrayOur estimateUS$55 to US$70 per 4-mic array boardUS$70US$55per 4-mic array boardConfirmed
Four microphones that work together to tell where a voice is coming from.
Part priceOur estimateUS$55 to US$70 per 4-mic array boardUS$70US$55per 4-mic array board
Based on: These are comparable products, not the confirmed parts in the Unitree G1, Unitree R1 or 1X NEO; none of those companies names the array model. Ready-made 4-mic boards with a voice processor that does beamforming and direction finding sell for about US$55 (XVF3800) to US$69 (older XVF3000 with case) from Seeed. A company that lays four MEMS mics onto its own board would pay much less for the parts.
Brain layer 4 of 5
Training
How the robot was taught.
Isaac GymIn storeListedFreeConfirmed
A simulator where thousands of virtual robots practise at once. Walking is learned here first.
Part priceListedFree
Free to download for existing users, but Nvidia no longer supports it.
People drive the robot remotely, and the recordings become its lessons. A person wearing an Apple Vision Pro, Pico or Meta Quest headset drives the robot.
Why not confirmed. Unitree's ROS 2 package lists the Go2, B2 and H1. The G1 is not named there.
Made by
Open Robotics
Not the brain
Body
The motors, gears, hands and battery that make it move.
Unitree joint motorsIn-houseOur estimateUS$120 to US$900 eachUS$900US$120eachConfirmed
Unitree's own brushless joint motors, each with two position sensors and a hollow shaft so wires run through the joint. Every G1 joint uses a Unitree-made motor: a low-inertia, inner-rotor permanent magnet synchronous motor (a brushless motor with magnets on the spinning part) with two encoders (position sensors) and a hollow shaft so wires run through the joint. Unitree says the largest joint motor peaks at 120 N.m.
Part priceOur estimateUS$120 to US$900 eachUS$900US$120each
Based on: Unitree makes the G1's joint motors itself and does not sell them, so this is not their price. It is the price range of comparable joint actuators a builder can buy, from about US$120 for a 5 Nm wrist-size unit to about US$900 for a 120 Nm leg-size unit. A full G1 uses 23 to 43 of these, so buying comparables for one robot would cost several thousand dollars, far more than Unitree likely pays to make its own.
Unitree N7520-22.5 joint motorIn-houseOur estimateUS$300 to US$900US$900US$300Confirmed
Unitree's biggest G1 joint motor, used in the hip-roll and knee joints; the 22.5 is its gear ratio. The N7520-22.5 drives the hip-roll and knee joints, 4 per robot. Unitree's training code caps it at 139 N.m, while the spec sheet rates the knee at 90 N.m on the standard G1 and 120 N.m on the EDU.
Part priceOur estimate
Unitree N7520-14.3 joint motorIn-houseOur estimateUS$300 to US$700US$700US$300Confirmed
Large G1 joint motor for hip pitch, hip yaw and waist turn; the 14.3 is its gear ratio. The N7520-14.3 drives both hip-pitch joints, both hip-yaw joints and the waist turn, 5 per robot, capped at 88 N.m in Unitree's training code.
Part priceOur estimate
Unitree N5020-16 joint motorEDU, 29 jointsIn-houseOur estimateUS$190 to US$400US$400US$190Confirmed
Mid-size G1 joint motor for shoulders, elbows, ankles, waist tilt and wrist roll; 16:1 gearing. The N5020-16 is the workhorse: 16 of them on the 29-joint G1 (shoulders, elbows, wrist roll, ankles and the optional waist tilt joints), capped at 25 N.m.
Part priceOur estimate
Unitree W4010-25 wrist motorEDU, 29 jointsIn-houseOur estimateUS$120 to US$370US$370US$120Confirmed
Small G1 wrist motor for the extra wrist pitch and yaw joints on the 29-joint EDU; 25:1 gearing. Four W4010-25 motors run the extra wrist pitch and yaw joints that only the 29-joint EDU has, capped at 5 N.m.
Part priceOur estimate
Planetary gear reducerIn-houseOur estimateUS$50 to US$100US$100US$50Confirmed
A compact gearbox where small gears circle a central gear, trading motor speed for more turning force. Unitree designs and makes its own planetary reducers inside each joint, with gear teeth shaped to survive the impacts of walking and jumping. Its code lists two gear stages per motor, and the number in each model name is the total ratio (for example 4.5 x 5 = 22.5).
Part priceOur estimate
Planetary gear reducerWho makes the gearsIn-houseOur estimateUS$50 to US$100US$100US$50Likely
A compact gearbox where small gears circle a central gear, trading motor speed for more turning force. Opening a lower-leg joint, China Post Securities found a two-stage planetary gearbox of about 20.6:1 with no maker logo. It says the gears likely come from Meihu, which told investors it mass-delivers reducer joint-module parts to an unnamed Hangzhou robot customer.
Part priceOur estimate
Crossed roller bearingsOur estimateUS$130 to US$200US$200US$130Confirmed
Joint output bearings with rollers set at right angles, so one bearing carries loads from every direction. Every G1 joint output sits on industrial crossed roller bearings, which Unitree picks for precision and high load.
Part priceOur estimateUS$130 to US$200US$200US$130
Based on: Robot companies do not sell the crossed roller bearings in their joints, and the one found in a G1 is a Luoyang Baina part with no public price, so this is not its price. It is the price of comparable branded crossed roller bearings a builder can buy one at a time, with a bore of 35 to 40 mm like the Baina CRBT355A. A crossed roller bearing has small rollers set at right angles to each other so one thin ring can carry loads from every direction; Chinese companies selling in bulk to robot companies likely charge much less.
Crossed roller bearingsWho makes the bearingOur estimateUS$130 to US$200US$200US$130Likely
Joint output bearings with rollers set at right angles, so one bearing carries loads from every direction. The one part in the teardown with a maker logo was a thin crossed roller bearing (CRBT355A) from Luoyang Baina Bearing.
Part priceOur estimateUS$130 to US$200US$200US$130
Based on: Robot companies do not sell the crossed roller bearings in their joints, and the one found in a G1 is a Luoyang Baina part with no public price, so this is not its price. It is the price of comparable branded crossed roller bearings a builder can buy one at a time, with a bore of 35 to 40 mm like the Baina CRBT355A. A crossed roller bearing has small rollers set at right angles to each other so one thin ring can carry loads from every direction; Chinese companies selling in bulk to robot companies likely charge much less.
Dex3-1 handEDUEstimate by China Post SecuritiesUS$5,000 to US$5,700 or 36,000 to 41,000 yuan per handConfirmed
Unitree's own three-finger force-controlled hand with 7 joints and optional touch sensors. The optional Dex3-1 is Unitree's own three-finger hand with 7 joints (3 in the thumb, 2 each in two fingers). It runs on 12 to 58 V, senses grip from 10 g to 2.5 kg and can carry 9 touch sensor pads; the base G1 has no hands.
Part priceEstimate by China Post SecuritiesUS$5,000 to US$5,700 or 36,000 to 41,000 yuan per hand
Inspire five-finger handEDUListedAbout US$3,100 or 22,000 yuan per handLikely
A five-finger robot hand with 6 motors, sold to robot companies by Inspire Robots of Beijing. Inspire Robots is Unitree's main outside hand supplier: China Post Securities, citing Unitree's filing, says Unitree bought 1,210 Inspire hands for 17.2 million yuan in the first nine months of 2025, 96% of its bought-in hand spending. These hands are offered on top G1 EDU versions.
Part priceListedAbout US$3,100 or 22,000 yuan per hand
Inspire Robots does not publish this hand's price. China Post Securities' March 2026 teardown of the G1 gives its retail price as about 22,000 yuan per hand. The dollar figure is at about 7.2 yuan to the US dollar.
Unitree's quick-release 13-cell-series lithium pack with its own battery management system. The G1 runs on a 13-cell-series lithium battery of 9000mAh that clips out for quick swaps, charged by a 54 V 5 A charger, for about 2 hours. Unitree sells spares for US$700; the cell maker is not named.
Part priceListedUS$700
Single-unit store price. Robot companies buying in volume usually pay less.
G1 smart battery 9000mAhVoltage and weightIn storeListedUS$700Likely
Unitree's quick-release 13-cell-series lithium pack with its own battery management system. The pack is rated 46.8 V and about 0.42 kWh and weighs about 2.5 kg, per the China Post Securities teardown.
Part priceListedUS$700
Single-unit store price. Robot companies buying in volume usually pay less.
Build cost
What it costs to make, split by area. These are mostly other people's estimates, tagged by how far to trust them.
Whole robotBase, 23 jointsEstimate by China Post SecuritiesAbout US$5,800 or 41,600 yuan in partsLikely
China Post Securities' March 2026 teardown of the base G1 (23 joints, no hands) put the parts at 41,574 yuan plus about 3,000 yuan of assembly, against an 85,000 yuan retail price, so about a 40.7% gross margin. It estimates the EDU versions at 51,600 to 87,000 yuan in parts with 63 to 67% margins.
Why not confirmed. A broker's estimate from its own teardown and part pricing, not Unitree's figures.
ActuatorsBase, 23 jointsEstimate by China Post SecuritiesAbout US$3,800 or 27,500 yuan, 66% of parts costLikely
In the same 2026 estimate, the 9 large joints cost about 1,500 yuan each and the 14 small ones about 1,000 yuan. A small joint splits into gearbox 300, motor 200, encoder 200, driver board 150 and housing 150 yuan.
Why not confirmed. Broker estimate; Unitree makes these joints itself and does not publish their cost.
ComputeBase, 23 jointsEstimate by China Post SecuritiesAbout US$200 or 1,400 yuan, 3% of parts costLikely
China Post Securities (2026) priced the base G1's main board at about 1,415 yuan, including a Rockchip RK3588 chip at 380 yuan, 8 GB memory and 64 GB storage. The EDU's extra Jetson Orin module is not in this figure.
FrameBase, 23 jointsEstimate by China Post SecuritiesAbout US$350 or 2,500 yuan, 6% of parts costLikely
China Post Securities (2026) put structural parts at 2,000 yuan and the outer shell at 500 yuan; the frame is mostly aluminium and engineering plastic, with steel only in the lower-leg links.
Whole robotEstimate by SemiAnalysisUS$8,976 in parts, about 67% gross marginLikely
SemiAnalysis (June 2026) estimates a 67% gross margin on the G1 at a US$27,300 pre-tax price and teases a US$8,976 bill of materials; the breakdown is paywalled and the free text does not say which G1 version it covers.
Why not confirmed. Analyst estimate; the figure is behind a paywall and not Unitree's own.
Whole robotAll Unitree humanoidsUnitree's humanoids: 63.18% gross margin in 2025Confirmed
Unitree's prospectus reports 5,215 humanoids sold in 2025 at an average 166,400 yuan with a 63.18% gross margin, which by our own sum is roughly 61,300 yuan of cost per robot, labour and factory costs included. This averages all its humanoid models; Unitree says the G1's cost and margin are below the H1's but gives no G1-only figure.
Robots shipped5,215 humanoid robots sold in 2025Confirmed
From Unitree's prospectus. It shipped 5,511 humanoids in 2025, but 296 had not been accepted by customers by the end of the year, so they are not counted as sold. It sold 412 in 2024. It also sold 23,037 four-legged robots in 2025.
Robot revenueAbout US$123 million or 868 million yuan from humanoid robots in 2025Confirmed
From Unitree's prospectus: about 868 million yuan, just over half of its sales. Converted at 7.03 yuan to the US dollar, China's official rate on 31 December 2025. Its four-legged robots brought in about 698 million yuan.
Based on: Unitree makes this joint motor itself and does not sell it, so this is not its price. It is the price of comparable robot joint actuators a builder can buy today that also pack a brushless motor, planetary gearing and encoders into one unit and reach about 120 Nm of peak torque, like the G1's hip roll and knee motors. A robot company building its own motors in volume would likely pay much less per joint.
Based on: Unitree makes this joint motor itself and does not sell it, so this is not its price. It is the price of comparable joint actuators a builder can buy that give roughly 70 to 120 Nm of peak torque from a motor with built-in planetary gearing, like the G1's hip and waist motors at about 88 Nm. In-house motors made in volume would likely cost Unitree much less.
Based on: Unitree makes this joint motor itself and does not sell it, so this is not its price. It is the price of comparable arm and ankle size joint actuators a builder can buy that give about 24 to 36 Nm of peak torque with built-in planetary gearing, close to the G1's 25 Nm. Unitree's own sold motor of this size, the GO-M8010-6, sits inside this range.
Based on: Unitree makes this wrist motor itself and does not sell it, so this is not its price. It is the price of comparable small joint actuators a builder can buy that give about 4 to 7 Nm of peak torque with built-in planetary gearing, like the G1's 5 Nm wrist units. Most cost US$120 to US$160; the top of the range is a model with a very similar 28:1 ratio.
Based on: Unitree makes its own two-stage planetary gearboxes inside its joint motors and does not sell them, so this is not their price. It is the price of comparable stand-alone planetary gearboxes for small servo motors that a builder can buy, with about 20:1 reduction and 30 to 90 Nm of allowed output torque. They are separate boxes that bolt onto a motor, so they are heavier and longer than a gearbox built into a robot joint, and a precision industrial gearbox costs several times more.
Based on: Unitree makes its own two-stage planetary gearboxes inside its joint motors and does not sell them, so this is not their price. It is the price of comparable stand-alone planetary gearboxes for small servo motors that a builder can buy, with about 20:1 reduction and 30 to 90 Nm of allowed output torque. They are separate boxes that bolt onto a motor, so they are heavier and longer than a gearbox built into a robot joint, and a precision industrial gearbox costs several times more.
Unitree does not publish a price for the Dex3-1 on its own. China Post Securities' March 2026 teardown of the G1 estimates it at about 36,000 yuan per hand, or about 41,000 yuan with touch sensors. The dollar figures are at about 7.2 yuan to the US dollar.
China Post Securities' figure, shown as published. Not our own estimate.
Unitree, G1 product pageunitree.com, saved copy
