H1 is Unitree’s full-size, general-purpose humanoid — about 1.8 m tall, built for dynamic locomotion rather than careful, static balance. High-torque actuators (up to 360 N·m) let it walk, run, and recover from disturbances the way a much more conservatively-actuated humanoid can’t; it holds a world record for humanoid running speed.
The mechanism
Each leg carries five actuated joints (hip yaw, roll, and pitch; knee; ankle) for ten leg DOF, a single torso joint adds waist rotation, and each arm carries four actuated joints (shoulder pitch, roll, and yaw; elbow) for eight arm DOF — 10 + 1 + 8 = 19 actuated degrees of freedom on the base platform, all independently driven, no mimic joints or closed kinematic loops.
The optional dexterous hand adds a 5-fingered hand at each wrist. Every finger’s own
motor drives its base knuckle; the second knuckle is mechanically coupled to follow the
first (a mimic joint in the URDF, not an independent actuator) — six real motors per
hand, not the eleven joints a naive per-hand joint count would suggest. With both hands
attached, total actuated DOF rises to 33.
About this file — read before importing
This links directly to
unitree_ros’s h1_description package,
Unitree’s own repository. ARMOR links directly to that repository rather than re-hosting
anything, so what you get is exactly what Unitree publishes, unmodified.