Compare humanoids
Pick two to four robots. Every pair also has its own permanent page, 1,326 in total, generated from the same records.
01
Pick robots
52 humanoidsDuke 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.
| 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 | |
03
Best-documented pairs
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