Compare · Compact humanoid · 2 of 4
iCub vs Unitree R1
/compare/iit-icub-vs-unitree-r1 · one URL per set, slugs sorted
iCubIstituto Italiano di Tecnologia
Shipping
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Unitree R1Unitree Robotics
Shipping
remove ×+Add a robotCommercial
List pricelower is better
EUR 250,000
Verified · T1
US$4,900best
Verified · T1
Pricing typeno better
quote only
Verified · T1
list price
Verified · T1
Physical
Heightno better
1.05 m
Verified · T1
1.23 m
Verified · T1
Weightno better
33 kg
Verified · T1
25 kg
Sources disagree · T1
Degrees of freedomno better
53
Verified · T1
26
Verified · T1
Technical
Sensorsno better
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)
Verified · T1
Binocular camera · 4-Mic Array
Verified · T1
Camerasno better
2 x Pointgrey Dragonfly 2 (640x480) mounted in the eyes
Verified · T1
Binocular camera
Verified · T1
Computeno better
Intel i7 7600 CPU, 4 GB RAM, 32GB SSD
Verified · T1
8-Core High-Performance Processor
Verified · T1
AI stackno better
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
Verified · T1
Large Multimodal Model for voice and images
Verified · T1
Software
SDK availableno better
Yes
Verified · T1
Yes
Verified · T1
API typeno better
YARP 3 middleware with interface to ROS
Verified · T1
Fully open control interfaces for joints and sensors
Verified · T1
12 attributes are not compared because not every robot here reports them.
Wins by disclosed attributes with a defined better · iCub 0 · R1 1 · 0 ties10 attributes have no better, are undisclosed or disputed · no overall winner is ever declared
Verified iCub 25 Sept 2026 · Unitree R1 24 Sept 2026