Unitree G1-D Standard B U2 Fixed Base Dual-Arm Wheeled Humanoid Robot (Coming Soon)

Unitree G1-D Standard B U2 Fixed Base Dual-Arm Wheeled Humanoid Robot

Fixed-Base Architecture: Shared Platform with Standard A

The G1-D Standard B uses the identical fixed-base body platform as the Standard A (U1). The physical characteristics are unchanged:

Fixed baseplate mounting: The robot is mounted on a stable baseplate, eliminating locomotion, balance computation, and mobile navigation complexity. This makes the Standard B appropriate for laboratory bench deployment, fixed workstation integration, and controlled research environments where the robot remains at a specific location.

Height-adjustable column: A 500 mm vertical lifting stroke with 1 mm precision adjusts the upper body height between 1,260 mm and 1,680 mm — enabling the arms to be positioned at any workstation height within this range with millimeter-level accuracy.

Total weight ~50 kg: The fixed-base body, Jetson Orin compute, battery, and upper body structure together weigh approximately 50 kilograms — sufficient mass to provide stable anchoring during arm operations without requiring floor bolts for most research applications.

Dual 7-DOF arms: Each arm provides 7 degrees of freedom including wrist pitch and yaw — the complete shoulder-to-wrist articulation needed for approaching objects from any orientation within the 450 mm reach envelope.

2-DOF waist: Two waist degrees of freedom enable torso rotation and lean for extended reach and task-relevant body orientation without requiring the column height to change.

Dex3-1 Three-Finger Hands: Expanded Grasping Without Tactile

The Dex3-1 is Unitree's force-controlled three-finger dexterous hand. In the Standard B configuration, both hands are Dex3-1 units without tactile sensor arrays — the same kinematic configuration as the bipedal G1 EDU Ultimate A (U3), providing force-position hybrid control but relying on joint torque estimation rather than distributed fingertip pressure sensing for contact force feedback.

The Dex3-1's three-finger layout covers the grasping repertoire most commonly required for research and deployment manipulation tasks:

Thumb opposition grasp (precision pinch): Thumb opposing index finger with middle finger providing stability — appropriate for small objects requiring controlled two-point contact.

Tripod grasp: Thumb opposing index and middle fingers simultaneously — three-point stable grasping of irregularly shaped objects.

Power grasp: All three fingers closing around a cylindrical or spherical object for maximum grip security during dynamic manipulation or transport.

Lateral grip: Thumb positioned laterally alongside index for key, card, and thin flat object handling.

The Dex3-1's force-position hybrid control mode enables the hand to close toward a target position while maintaining force limits — a critical capability for avoiding crushing deformable objects, fragile containers, and variable-compliance items that a pure position-controlled gripper would damage. The confirmed kinematic distribution (from the bipedal G1 Dex3-1 documentation): thumb (3 active DOF), index (2 active DOF), middle (2 active DOF) = 7 active DOF per hand. Adding both hands to the 17-DOF body brings the total to 19 DOF when hands are included in the count — consistent with the "19 DOF" figure noted in some G1-D Standard documentation.

Camera System: Wrist and Head Cameras

The G1-D Standard B retains the full camera system of the G1-D Standard platform confirmed from the Standard A U1 specification:

Stereo head camera (3840×1200): High-resolution stereo vision providing egocentric depth perception from the robot's head position — the workspace overview camera for task planning, teleoperation monitoring, and environment mapping.

Wrist cameras (1920×1080 each, bilateral): HD cameras at each wrist providing the hand-object contact perspective most informative for manipulation AI training and visual servoing during precision grasping. The wrist cameras see the Dex3-1 hand approaching and contacting the object from the same visual perspective as the approaching fingers.

For the Standard B's Dex3-1 three-finger configuration, the wrist cameras provide particularly valuable data: they capture the three-finger contact formation from the approaching direction, enabling visual grasping policy networks to learn the correlation between the visual observation of the finger-object approach and the successful grasp configuration for each object type.

Technology and Specifications

G1-D Standard B (U2) Full Specifications

NVIDIA Jetson Orin 16GB (100 TOPS)

The NVIDIA Jetson Orin 16GB provides 100 TOPS of GPU-accelerated AI compute via 1,024 CUDA cores and 32 Tensor cores, enabling on-device execution of visual grasping policies, UnifoLM multimodal interaction, and real-time manipulation planning for the Dex3-1 three-finger configuration.

For the Standard B, the Jetson Orin handles several parallel workloads during typical research operation: processing the stereo head camera and dual wrist camera streams (four video feeds simultaneously at up to 3840×1200 and 1920×1080), running visual grasping policy inference to predict Dex3-1 configurations for presented objects, and managing the UnifoLM voice interaction layer for natural-language task direction.

The 16GB memory configuration supports the larger visual grasping models that three-finger manipulation policy research deploys — transformer-based VLA policies and visual grasping networks that have memory footprints requiring 8 to 16GB for full-precision deployment.

SDK: Full Secondary Development

The G1-D Standard B provides complete secondary development support through Python, C++, and the Unitree SDK framework — enabling custom control of the Dex3-1 hands at joint level, custom visual perception pipelines using the camera data streams, and custom manipulation task programming. OTA software updates allow Unitree to improve the platform's base capabilities post-delivery.

Applications and Use Cases

Three-Finger Manipulation Research at Fixed Workstations

The Standard B's primary research contribution over the Standard A is the shift from parallel-jaw grasping (Dex1-1) to three-finger dexterous grasping (Dex3-1). For manipulation researchers studying grasp planning, object affordance learning, and multi-finger grasping policies, the three-finger configuration provides the kinematic vocabulary needed to represent the most common everyday object grasping patterns — power, precision, and tripod — in a fixed-base controlled research environment.

The fixed-base stability eliminates locomotion variables that would confound manipulation studies on mobile platforms, and the direct power connection enables extended research sessions without battery management overhead.

Data Collection for Dex3-1 Manipulation AI Training

For AI training data collection programs studying three-finger dexterous manipulation, the Standard B's combination of Dex3-1 hands, dual wrist cameras, stereo head camera, and direct power connection provides an effective and sustainable platform for generating labeled manipulation demonstration datasets. Teleoperation through the Dex3-1's 7-DOF per hand enables human demonstration of the full three-finger grasp repertoire, with the wrist cameras capturing the visual observations from the hand's perspective that form the input observations for imitation learning policies.

Industrial Workstation Manipulation Piloting

For manufacturing facilities evaluating fixed-position automation of workstation tasks requiring more than simple parallel-jaw gripping — components with irregular geometry, assemblies requiring stable three-point contact, or packaging tasks where tripod grasps are more reliable than two-finger grips — the Standard B's Dex3-1 configuration provides a more complete manipulation capability than the Standard A's Dex1-1 at the fixed-base platform level before committing to a mobile or higher-tier deployment.

Laboratory Education and Curriculum Development

For university robotics courses covering dexterous manipulation — grasp planning algorithms, manipulation policy learning, force-controlled grasping — the Standard B's three-finger Dex3-1 configuration provides a more research-relevant grasping platform than the parallel-jaw Standard A for courses that focus on multi-finger manipulation theory and practice. The visualization computer included in the package supports lab display setups without requiring additional display hardware.

Service Prototyping: Object Handling Without Tactile

For service robot prototyping where the application involves handling standardized objects (packages, components, containers) where object deformability and slip detection are not current design requirements, the Standard B's Dex3-1 without tactile provides the three-finger grasping capability needed for reliable object handling at lower cost than the tactile-equipped Standard C.

Comparison: Standard B vs. Standard A and Standard C

The Standard B provides the critical jump from two-finger to three-finger grasping at the minimum additional investment over the Standard A. For research programs where three-finger kinematic grasping covers the task set, the Standard B is the appropriate tier; when contact sensing is also needed, the Standard C at the same platform specification adds the tactile arrays.

Advantages and Benefits

Dex3-1 Three-Finger Grasping Covers 80-90% of Manipulation Use Cases: BotInfo.ai's analysis confirms: "3-finger (Dex3-1): 7 DOF/hand, simpler, 80–90% of use cases, lower cost." The Standard B's Dex3-1 configuration addresses the large majority of manipulation tasks that the Standard A's two-finger gripper cannot complete due to object geometry constraints.

Force-Position Hybrid Control for Variable Object Compliance: The Dex3-1's force-position hybrid control enables the Standard B to handle objects of varying compliance — soft packaging, variable-density materials, and objects with uncertain surface properties — by regulating grip force rather than closing to a fixed position.

Fixed-Base Stability for Repeatable Research Results: The fixed baseplate eliminates locomotion disturbances from the experimental environment, providing the most controlled mechanical substrate for manipulation studies requiring repeatable arm trajectories and grasping outcomes.

500 mm Column Stroke for Multi-Height Workstation Coverage: Fine height adjustment within the 1,260 to 1,680 mm range enables the Standard B to serve different workstation configurations at research institutions and pilot industrial sites without hardware modification.

100-TOPS Jetson Orin for On-Device Three-Finger Policy AI: The GPU-accelerated compute enables deployment of visual grasping policies for the Dex3-1's three-finger configuration directly on the robot, without cloud compute dependency.

Direct Power Connection for Unlimited Research Sessions: Corded power operation enables the Standard B to run continuously for multi-hour data collection programs, extended experiments, or always-on service deployments at fixed workstations.

Upgrade Path from Standard A to Standard B: Buyers who start with the Standard A (Dex1-1 grippers) and need to progress to three-finger grasping can upgrade end-effectors through Unitree's sales team, following the platform's documented modular end-effector interface.

Frequently Asked Questions (FAQ)

What is the Unitree G1-D Standard B (U2)? The Unitree G1-D Standard B (U2) is the second configuration of the G1-D Standard fixed-base dual-arm humanoid robot lineup, equipped with two Dex3-1 force-controlled three-finger dexterous hands (without tactile sensors) replacing the Standard A's Dex1-1 two-finger grippers. It shares the same platform body as the Standard A: 17 total DOF (excluding end effectors), height adjustable from 1,260 to 1,680 mm with 500 mm stroke at 1 mm precision, 3 kg arm payload, NVIDIA Jetson Orin 16GB (100 TOPS), dual 1920×1080 wrist cameras, 3840×1200 stereo head camera, WiFi 6, and a 9,000 mAh battery providing approximately 2 hours runtime (or unlimited via direct power).

What is the difference between the Standard B (U2) and Standard A (U1)? The Standard B (U2) and Standard A (U1) share the same fixed-base body, 17-DOF structure, height-adjustable column, camera system, Jetson Orin compute, battery, and warranty. The only hardware difference is the end-effector: Standard A uses Dex1-1 two-finger parallel-jaw grippers for simple parallel grasping; Standard B uses Dex3-1 three-finger force-controlled hands (7 DOF each: thumb 3, index 2, middle 2) enabling precision pinch, tripod, and power grasps not possible with the two-finger configuration.

What is the difference between the Standard B (U2) and Standard C (U3)? Both Standard B and Standard C use the same Dex3-1 three-finger hands on the same platform body. The only difference is that the Standard C adds integrated tactile sensor arrays to the Dex3-1 hands, enabling distributed contact pressure sensing for grasp quality assessment, slip detection, and fragile object handling with force regulation. The Standard B without tactile uses joint torque estimation for contact force feedback; the Standard C with tactile provides spatial contact pressure mapping at the fingertip level.

Is the Unitree G1-D Standard B available to buy now? As of April 2026, the G1-D Standard B (U2) is listed as "Coming Soon" on some authorized distributor platforms. The G1-D family launched in November 2025, and the Standard configurations are in phased global rollout. Contact your preferred authorized distributor — RobotShop, OpenELAB Technology, or BotInfo.ai — to register interest, confirm current availability in your region, and obtain a pricing quote.

What research applications is the G1-D Standard B best suited for? The Standard B is best suited for: three-finger dexterous manipulation research (grasp planning, multi-finger policy learning), manipulation AI training data collection requiring three-finger demonstrations, industrial workstation piloting for tasks beyond parallel-jaw grasping, laboratory education covering multi-finger manipulation algorithms, and service robot prototyping for object handling tasks where tactile sensing is not a current requirement. For tasks involving fragile or deformable objects requiring distributed contact sensing, the Standard C (with tactile) is more appropriate.

Summary

The Unitree G1-D Standard B (U2) Fixed-Base Dual-Arm Humanoid Robot provides the three-finger dexterous manipulation capability of the Dex3-1 — with 7 active DOF per hand covering precision pinch, tripod, and power grasps — on the confirmed G1-D Standard fixed-base platform: 17 body DOF, 500 mm column stroke at 1 mm precision, 3 kg arm payload, NVIDIA Jetson Orin 16GB (100 TOPS), dual 1920×1080 wrist cameras, 3840×1200 stereo head camera, direct power connection for unlimited runtime, and 12-month warranty. Listed as Coming Soon on some distributor platforms following the November 2025 G1-D family launch, the Standard B represents the minimum investment within the G1-D Standard lineup for research programs requiring three-finger grasping capability — providing the kinematic grasping repertoire that covers the majority of everyday object manipulation tasks, at the same stable fixed-base platform that makes the G1-D Standard the appropriate choice for controlled research and fixed workstation deployment.