R1 humanoid
Lightweight structure, easy maintenance
The R1 is a next-generation, ultra-lightweight, and agile humanoid robot designed to make advanced robotics accessible for research, education, and early commercial applications.
key benefits of the R1 humanoid
Agile mobility
20-26-DOF for adaptation to complex scenarios; its 2-DOF head enhances environmental perception.
Lightweight structure, easy maintenance
≤123cm agile form, ultra-lightweight at about 29kg, and ready out-of-the-box to empower.
voice and vision intelligence
Fully open control interfaces for joints and sensors, with support for mainstream simulation platforms, allowing algorithms to seamlessly enter the physical world.
r1 humanoid specifications
Model |
R1 Air |
R1 |
R1 EDU |
|
Height, Width and Thickness（Stand)
|
1230x357x190mm | 1230x357x190mm | 1230x357x190mm |
|
Weight (With Battery)
|
About 25kg | About 29kg | About 29kg |
|
Degree of Freedom(Total Joints)
|
20 | 26 | 26-40 |
|
Single Leg Degrees of Freedom
|
6 | 6 | 6 |
| Single Arm Degrees of Freedom | 4 | 5 | 5 |
| Waist Degrees of Freedom | / | 2 | 2 |
| Head Degrees of Freedom | / | 2 | 2 |
| Dexterous Hand | / | / | Optional |
| Joint output bearing | Crossed roller bearings, Double Hook Ball Bearings | Crossed roller bearings, Double Hook Ball Bearings | Crossed roller bearings, Double Hook Ball Bearings |
| Joint motor | Low inertia high-speed internal rotor PMSM(permanent magnet synchronous motor,better response speed and heat dissipation) | Low inertia high-speed internal rotor PMSM(permanent magnet synchronous motor,better response speed and heat dissipation) | Low inertia high-speed internal rotor PMSM(permanent magnet synchronous motor,better response speed and heat dissipation) |
| Maximum Torque of Arm Joint | About 2KG | About 2KG | About 2KG |
| Calf + Thigh Length | 600 | 600 | 600 |
| Forearm + Upper Arm Length | 420 | 420 | 420 |
| Joint Movement Space | Knee Joint：-10°~+139° Hip Joint：Y:±157° P:-168° ~+146° R:-60° ~+100° |
Waist Joint：Y±150° R±30° Knee Joint：-10°~+139° Hip Joint：Y:±157° P:-168° ~+146° R:-60° ~+100° |
Waist Joint：Y±150° R±30° Knee Joint：-10°~+139° Hip Joint：Y:±157° P:-168° ~+146° R:-60° ~+100° |
| Electrical Routing | Hollow + Internal Routing | Hollow + Internal Routing | Hollow + Internal Routing |
| Joint Encoder | Dual + single encoder | Dual + single encoder | Dual + single encoder |
| Cooling System | Local air cooling | Local air cooling | Local air cooling |
| Power Supply | Lithium battery | Lithium battery | Lithium battery |
| Basic Computing Power | 8-core high-performance CPU | 8-core high-performance CPU | 8-core high-performance CPU |
| Microphone Array | 4-Mic Array | 4-Mic Array | 4-Mic Array |
| Speaker | YES | YES | YES |
| WiFi 6 、Bluetooth 5.2 | YES | YES | YES |
| Camera | Monocular camera | Binocular camera | Binocular camera |
| High-Power Computing Module | / | / | NVIDIA Jetson Orin Optional (40-100 TOPS) |
| Smart Battery (Quick Release) | YES | YES | YES |
| Charger | YES | YES | YES |
| Manual Controller | YES | YES | YES |
| Battery Life | About 1h | About 1h | About 1h |
| Upgraded Intelligent OTA | YES | YES | YES |
| Secondary Development | / | / | YES |
| Warranty Period | 6 Months | 8 Months | 12 Months |
if you are interested in
the r1 humanoid
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