Knowledge / Quadruped or humanoid? How to choose
Quadruped or humanoid? How to choose
A factual comparison of Unitree Go2 and G1 based on manufacturer data.
Task first, robot form second. A quadruped is more stable and handles terrain better. A humanoid has hands and human proportions, so it makes sense where manipulation or human interaction matters.
| Parameter (manufacturer data) | Go2 | G1 |
|---|---|---|
| Weight | approx. 15 kg | approx. 35 kg |
| Payload | approx. 7–8 kg on the back | approx. 2 kg per arm (EDU approx. 3 kg) |
| Runtime | approx. 1–2 h (EDU 2–4 h) | approx. 2 h |
| Terrain | slopes up to 40°, obstacles approx. 16 cm | flat indoor floors — we recommend testing |
| Hands | none | optional Dex3-1 (EDU) or other dexterous hands, e.g. Dex5-1 |
A simple rule
- Rounds, inspection, patrol, terrain, stairs: quadruped (Go2; industrial A2, As2, B2).
- Manipulation, human interaction, bipedal locomotion research: humanoid (G1; full-size H2).
- Teaching and RL/sim-to-real: both, but Go2 EDU is a cheaper and more robust start.
Sources: www.unitree.com/go2, www.unitree.com/g1. The G1 “Terrain” row is our assessment, not manufacturer data.