Unitree Z1 is a 6-DoF dexterous robot arm engineered for deployment on mobile robot platforms including the Unitree B1, B2, and Aliengo quadrupeds, as well as humanoid robots and custom mobile bases. At just 4.1 kg with a 740 mm maximum reach and 3 kg payload, the Z1 achieves a high payload-to-weight ratio that makes it suitable for mobile manipulation without overloading the host platform. With approximately 0.1 mm repeatability, a harmonic drive reduction ratio of over 60, and joint force control accuracy of approximately 0.2 N·m, the Z1 supports precision manipulation including tool use, valve turning, and button pushing. Powered at 24V with Ethernet communication, it is ROS compatible and supported by an open SDK with low-level and high-level control interfaces.
Key Highlights
- 6 DoF; 4.1 kg; 740 mm reach; 3 kg payload; ~0.1 mm repeatability
- Harmonic drive reduction over 60; ~0.2 N·m joint force control accuracy
- Designed for Unitree B1, B2, Aliengo, and humanoid robot platforms
- 24V Ethernet communication; ROS compatible; open SDK
- Position, velocity, and force control; low and high-level interfaces
- Suits tool use, valve turning, button pressing, and mobile manipulation
