UNITREE R1 Edu U4 (Crismon Hero) Humanoid Robot

The Unitree R1 Edu U4 is an advanced humanoid robot designed as a comprehensive research and development platform for work in robotics and artificial intelligence. With a height of 1210 mm, a weight of approximately 25 kg, and as many as 40 degrees of freedom, its design ensures very high mobility and precision of movement, while remaining compact and easy to transport. The EDU U4 version combines all the capabilities of the R1 Basic and EDU U1, expanding them with more powerful computing power, support for AI algorithms, two Dex3-1 three-fingered hands with force control and touch sensors, as well as additional degrees of freedom for the head. All of this makes the device a complete tool for advanced experiments, simulations, and more.

A red-and-gold humanoid robot hovering above an illuminated platform surrounded by working factory arms

Advanced kinematics and natural movement

The robot offers a total of 40 degrees of freedom, which translates to very realistic, smooth, and complex full-body movements. The Unitree R1 Edu U4 easily jumps, runs, walks on its hands, and even performs sequences inspired by martial arts. Each leg has 6 DoF, the waist 2 DoF, each arm 5 DoF, and the head 2 DoF. On top of that, there are two hands—7 DoF each. The wide ranges of motion in the waist, hips, and knees enable testing of advanced algorithms for locomotion, balance, and manipulation in dynamic scenarios.

A humanoid robot doing a star pose on the stairs of a modern building with red elements

Precise joint design

The Unitree R1 EDU U4 features a refined joint design with internal cable routing within hollow axes, which enhances reliability and protects mechanical components during intensive use. The use of dual and single encoders ensures high position reading accuracy, while local air cooling maintains stable operating parameters even during prolonged testing. In addition, the arm’s maximum payload of 2 kg enables experiments involving grasping and manipulating objects.

A symmetrical robot in a helmet being welded by two mechanical arms in a dark, industrial hall

Two Dex3-1 hands with force control and haptics

The R1 robot in the Edu U4 version is equipped with two dexterous three-fingered Dex3-1 hands with force control and touch sensors. Each hand has 7 degrees of freedom—the thumb has 3 DoF, the index finger has 2 DoF, and the middle finger also has 2 DoF. Advanced haptics and extensive manipulation capabilities allow the robot to handle tasks requiring precise interaction with objects even more effectively.

A humanoid robot boxing on a lawn surrounded by palm trees and modern architecture

AI-ready platform

The EDU U4 version introduces an expansion dock offering up to 100 TOPS of computing power. The platform has been designed with intensive development of AI algorithms, machine learning, and perception in mind, offering ready-to-use algorithmic support and full access to robot models, APIs, and development tools. Added to this is compatibility with popular simulation environments, including Isaac SIM, enabling a seamless transition from simulation to real-world testing.

A humanoid robot doing a handstand on the grass in a park next to a person running

Perception, Communication, and Interaction

The robot is equipped with a humanoid binocular camera, which serves as the foundation for visual perception and computer vision algorithms. A built-in speaker and microphone array enable voice communication that is close to natural, while Wi-Fi 6 and Bluetooth 5.2 connectivity ensure stable data transmission.

A humanoid robot standing on a road against the backdrop of a modern city with skyscrapers

A ready-to-use ecosystem for research

The Unitree R1 EDU U4 is designed as a complete solution for laboratories, universities, and R&D; teams; its smart lithium battery with a quick-release system provides approximately 1 hour of operation, and the included charger allows the robot to be quickly restored to working order. The package is complemented by extensive technical and ecosystem support, which facilitates the implementation of the device even in highly advanced research projects.

A robot divided vertically into white and red-gold halves, floating in space against the backdrop of a planet and stars

Included

Unitree R1 Edu U4 humanoid robot
Remote control
Charger
Robot carrying case

Manufacturer	Unitree
Model	R1 EDU U4
Color variant	Crimson Hero
Dimensions (standing position)	1210 × 357 × 190 mm
Weight (with battery)	Approx. 25 kg
Total degrees of freedom	40 DoF
Degrees of freedom of the legs	6 DoF per leg
Degrees of freedom of the waist	2 DoF
Degrees of freedom of the arms	5 DoF per arm
Degrees of freedom of the head	2 DoF
Degrees of freedom of the hands	7 DoF per hand (thumb: 3 DoF, index finger: 2 DoF, middle finger: 2 DoF)
Range of motion of the waist joints	Yaw: ±150° Roll: ±30°
Range of motion of the hip joints	Yaw: ±157° Pitch: from –168° to 146° Roll: from –60° to 100°
Range of motion of knee joints	From –10° to 148°
Joint design	Internal cable routing in hollow axes
Encoders	Dual + single encoder
Cooling	Local air cooling
Maximum arm payload	2 kg
Thigh + lower leg length	0.675 m
Arm span	Approx. 0.435 m
Power supply	Lithium battery
Operating time	Approx. 1 h
Expansion dock – computing power	100 TOPS
Perception sensor	Anthropomorphic binocular camera (two-eyed)
Audio	Speaker, microphone array
Connectivity	Wi-Fi 6, Bluetooth 5.2

All products

UNITREE R1 Edu U6 Humanoid Robot

UNITREE R1 Edu U5 Humanoid Robot

UNITREE R1 Edu U4 Humanoid Robot

UNITREE R1 Edu U3 Humanoid Robot

UNITREE R1 Edu U2 Humanoid Robot

UNITREE R1 Edu U1 Humanoid Robot