iCub vs Unitree G1

EUR 250,000

quote only

list price

1.05 m

1.32 m

33 kg

35 kg

53

23

9

7

Five-finger dexterous hand, nine motors driving tendons, 3-DoF wrist, tactile sensors in palm and fingertips

Dex3-1 three-fingered dexterous hand (optional, force control)

2 cameras (Pointgrey Dragonfly 2, 640x480) in the eyes · 2 stereo omnidirectional microphones · inertial sensors (3-axis gyroscope, accelerometer and geomagnetic, BOSCH BNO055) · absolute magnetic and incremental joint encoders · 6 six-axis force/torque sensors plus 2 ankle sensors · more than 3000 capacitive tactile sensors (skin)

Depth Camera · 3D LiDAR · 4 Microphone Array

2 x Pointgrey Dragonfly 2 (640x480) mounted in the eyes

Depth Camera

Intel i7 7600 CPU, 4 GB RAM, 32GB SSD

8-core high-performance CPU

iCub software repository: kinematics and dynamics, force/impedance control, reaching and grasping behaviours, attention system, online object learning and recognition, speech interfaces, OpenCV, Point Cloud

UnifoLM (Unified Robot Large Model)

ros2

ros2

Yes

Yes

Python · Java · C# · Matlab

C++ · Python