Unitree G1/G1-D Dedicated Dex1-1 Gripper Advanced Edition

Key Features & Capabilities

1. Enhanced Manipulation & Force Control

Unlike basic hobbyist grippers, the Advanced Edition utilizes force-position hybrid control.² This allows the robot to not only reach a specific position but also apply a precise, software-defined amount of pressure—essential for handling fragile objects like glassware or firm objects like industrial tools.

• Adjustable Clamping Force: Typically ranges from 5N to 120N, allowing for a wide variety of tasks.

• High Precision: Features a tip position resolution of approximately 0.1mm.

2. Integrated Perception Stack

The “Advanced Edition” designation often refers to the inclusion of a dedicated sensing suite mounted directly to the gripper hardware.

• RGB/Depth Camera Support: Often comes with a dedicated mount for cameras (like the Intel RealSense D405 or high-FOV RGB cameras) to allow for “eye-in-hand” perception.

• Visual Servoing: By placing the camera on the wrist/gripper, the G1 can perform much more accurate pick-and-place tasks through real-time visual feedback.

3. Robust Industrial Design

• Internal Wiring: Designed to work with the G1’s “hollow joint” routing, meaning no messy external cables to snag during complex arm movements.

• Self-Calibration: The system supports a specialized dex1_1_service for quick calibration, ensuring the “zero position” is perfectly aligned with the motor’s internal encoders.

   

Technical Specifications

Best Use Cases

• Industrial Research: Testing automated assembly or sorting in a lab environment.

• Mobile Manipulation: Using the G1-D (wheeled version) to transport and deliver items in a facility.

• Teleoperation: Pairing the grippers with VR/XR headsets (like Apple Vision Pro) to allow humans to control the robot’s hands remotely with high fidelity.