Unitree G1 Three degree of freedom waist

Características y beneficios clave:

• Enhanced Articulation: The waist provides three axes of rotation—typically Yaw (⁴$Z\pm155^\circ$), Pitch (⁵$X\pm45^\circ$), and Roll (⁶$Y\pm30^\circ$)—allowing the torso to twist, bend forward/backward, and tilt side-to-side.
• Superior Motor Coordination: This increased freedom of movement enables the robot to:
  • Shift its Center of Gravity (CoG): Essential for maintaining balance and stability during dynamic movements like turning, walking, and executing complex arm gestures.
  • Extend Reach: By pitching and rolling the torso, the robot can significantly extend the effective working range of its arms and hands without having to move its base, improving efficiency in tasks like reaching for objects on high shelves or across a large surface.
• Support for Complex Tasks: The added flexibility is vital for advanced applications:
  • Dexterous Manipulation: Allows the robot to finely adjust its torso posture to optimize the angle and position of its arms and dexterous hands, enhancing precision and sensitivity during object grasping and assembly.
  • Dynamic Motion: Crucial for martial arts-inspired moves, turning while walking, and other high-agility maneuvers that require a flexible and coordinated upper body.
• Modular Upgrade Path: The 3-DOF waist is part of the modular design of the Unitree G1 EDU platform, enabling researchers and developers to access a higher total degree of freedom (up to 43 DoF) for advanced research in bipedal locomotion, human-robot interaction, and AI-driven control.

En resumen, el 3-DOF Waist transforms the Unitree G1 into a significantly more capable humanoid platform, unlocking a higher level of performance for dynamic movement, precise manipulation, and advanced robotics research.