Duke Humanoid v1 vs Unitree R1
Generated from the registry · revision 2026-09-26 · openness out of 100
Duke Humanoid v1 has 16 fewer degrees of freedom (10 vs 26) than Unitree R1. Unitree R1 lists at $5,900; Duke Humanoid v1 is not for sale. Openness score: Duke Humanoid v1 85, Unitree R1 30 (of 100); only Duke Humanoid v1 publishes CAD, BOM and POL. Availability: Duke Humanoid v1 research only, Unitree R1 buy.
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Side by side
■ rows differ| Field | Duke University General Robotics LabDuke Humanoid v1 | Unitree RoboticsUnitree R1 | Δ first − second |
|---|---|---|---|
| Identity | |||
| Maker (differs) | Duke University General Robotics Lab | Unitree Robotics | |
| Class (differs) | Biped | Humanoid | |
| Status (differs) | Research | Active | |
| Availability (differs) | Research only | Buy | |
| Country (differs) | United States | China | |
| Year (differs) | 2024 | 2025 | |
| Specifications | |||
| Height | —unsourced | 123cm | |
| Mass | —unsourced | 29kg | |
| Degrees of freedom (differs) | 10 | 26 | −16 (-62%) |
| Payload | —unsourced | —unsourced | |
| Top speed | —unsourced | —unsourced | |
| Runtime | —unsourced | 60min | |
| Battery capacity | —unsourced | —unsourced | |
| Price (differs) | Not for sale | 5,900USD | |
| Actuators | —unsourced | Unitree in-house electric joint motors | |
| Compute | —unsourced | 8-core CPU; optional Jetson Orin (40-100 TOPS) | |
| Sensors | —unsourced | 4-mic array, monocular or binocular camera, joint encoders | |
| Openness and provenance | |||
| Openness bar | |||
| Openness score (differs) | 85/ 100 | 30/ 100 | +55 |
| CAD (25) (differs) | public | not public | |
| Bill of materials (20) (differs) | public | not public | |
| Sim model (URDF/MJCF) (20) | public | public | |
| Firmware (15) | not public | not public | |
| Software (10) | public | public | |
| Trained policies (10) (differs) | public | not public | |
| Verification level | L1 | L1 | |
| Sources (differs) | 4 | 2 | |
| Last checked (differs) | 2026-09-25 | 2026-09-24 | |
A dash is an unsourced figure, not zero. Sources for each robot are listed on its spec sheet: Duke Humanoid v1, Unitree R1.
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