Unitree G1 3-DoF Waist
Unitree G1 3-DoF waist module — adds pitch & roll to the G1 waist for three-axis torso motion (±155° yaw, ±30° pitch/roll). Fits G1 and G1 EDU.
- Unitree G1
- Unitree G1 EDU
About the Unitree G1 3-DoF Waist
The Unitree G1 3-DoF waist is the three-axis waist joint module for Unitree's G1 humanoid. It is sold for G1 configuration, replacement and development work.
For labs and developers, it is the waist option behind whole-body motion work on the G1 — posture control during manipulation, a wider arm workspace, and torso-led balance adjustments.
From a Yaw-Only Waist to Three Axes of Torso Motion
Every standard Unitree G1 ships with a single waist degree of freedom: the torso yaws, but it cannot bend or tilt. The Unitree G1 3-DoF waist module adds the two missing axes — pitch (X) and roll (Y) — on top of the existing yaw axis, turning the waist into a full three-axis joint.
With all three axes live, the G1 can bend forward and sideways, twist through a deep yaw arc, and hold body orientation while the arms work. In practice the torso takes over posture adjustments that would otherwise cost steps: the robot can shift its balance and extend its arm reach without re-positioning the legs. Unitree's G1 EDU specification lists the waist joint movement space as Z ±155°, X ±30°, Y ±30°.
- Bending, twisting & body orientation in one module
- Wider arm reach without moving the base
- The three-axis waist Unitree offers on the G1 EDU
Fits the Unitree G1 and the G1 EDU
Unitree offers the G1 with one to three waist degrees of freedom, and the additional two axes are the option listed for the G1 EDU. The Unitree G1 3-DoF waist module is that three-axis waist, and it fits both the standard G1 and the G1 EDU.
Specifications
| Type | 3-DoF waist joint module |
| Degrees of freedom | 3 — yaw (Z) · pitch (X) · roll (Y) |
| Joint range | Z ±155° · X ±30° · Y ±30° (G1 EDU waist spec) |
| Adds | Pitch & roll to the standard 1-DoF G1 waist |
| Fits | Unitree G1 · Unitree G1 EDU |
Shipping & Service
The waist module ships worldwide by DHL or FedEx in protective industrial packaging; exact transit time is confirmed with your quote.
Every unit is 100% quality-inspected before it ships, so it arrives in perfect working order.
Last updated: September 2026.
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