Hardware

Degrees of Freedom by Body Region

Bars show the published total for each named configuration. Regional counts remain visible in the table.

Updated 2026-10-11Source observations through 2026-10-11. Analysis revised separately.Open all humanoid data charts

Data summary

What is included

Bars show the published total for each named configuration. Regional counts remain visible in the table.

Visible rows

Dataset scope

TechniaHQRobot source-linked dataset

Interactive infographic

Degrees of Freedom by Body Region

Bars show the published total for each named configuration. Regional counts remain visible in the table.

ManufacturerRobotConfiguration

Unitree G1 standard

Unitree G1 EDU maximum configuration

Unitree H1

Booster K1

Booster T1 basic

Booster T1 gripper configuration

Booster T1 dexterous-hand configuration

Reachy 2 upper body

Fourier GR-2 maximum hand configuration

PAL Robotics REEM-C

PAL Robotics TALOS

AgiBot A3 Ultra maximum hand configuration

Accessible data table

The table contains the same source-linked records used by the chart. It is the reference when labels overlap or a visual scale compresses values.

Source-linked data used in the infographic
Robot	Total active DoF	Head	Neck	Torso	Arms	Hands	Pelvis	Legs	Feet	Record notes	Evidence	Source
Unitree G1 standard	23	0	0	1	10	0	0	12	0	Hands and optional waist/wrist joints are not included. Standard 23-DoF configuration	Official specification	Unitree G1 official product pageChecked 2026-07-31
Unitree G1 EDU maximum configuration	43	0	0	3	14	14	0	12	0	Wrist joints are counted with the arms. EDU with optional waist, wrist and Dex3-1 hand joints	Official specification	Unitree G1 official product pageChecked 2026-07-31
Unitree H1	19	Not recorded	Not recorded	Not recorded	Not recorded	Not recorded	Not recorded	Not recorded	Not recorded	The cited page does not provide a body-region split. Published total only	Official specification	Unitree H1 official product pageChecked 2026-07-31
Booster K1	22	2	0	0	8	0	0	12	0	Standard configuration	Official specification	Booster K1 official product pageChecked 2026-07-31
Booster T1 basic	23	2	0	1	8	0	0	12	0	Basic configuration	Official specification	Booster T1 official product pageChecked 2026-07-31
Booster T1 gripper configuration	31	2	0	1	14	2	0	12	0	Seven-DoF arms and one-DoF gripper per hand	Official specification	Booster T1 official product pageChecked 2026-07-31
Booster T1 dexterous-hand configuration	41	2	0	1	14	12	0	12	0	Seven-DoF arms and six-DoF hand per side	Official specification	Booster T1 official product pageChecked 2026-07-31
Reachy 2 upper body	17	0	3	0	14	Not recorded	0	0	0	Mobile-base and gripper DoF are excluded from this upper-body total. Two seven-DoF arms plus three-DoF neck	Official specification	Pollen Robotics Reachy 2 specificationsChecked 2026-07-31
Fourier GR-2 maximum hand configuration	53	2	0	1	14	24	0	12	0	Both hands contribute 24 DoF. The manufacturer lists 7 per arm, 6 per leg, 1 waist and 2 head DoF. 53-actuator configuration with optional 12-DoF hand per side	Official specification	Fourier GR-2 official technical documentationChecked 2026-10-11
PAL Robotics REEM-C	68	Not recorded	Not recorded	Not recorded	Not recorded	Not recorded	Not recorded	Not recorded	Not recorded	Unpublished body-region values remain null. Published total only	Official specification	PAL Robotics REEM-C official product pageChecked 2026-07-31
PAL Robotics TALOS	32	Not recorded	Not recorded	Not recorded	Not recorded	Not recorded	Not recorded	Not recorded	Not recorded	Unpublished body-region values remain null. Published total only	Official specification	PAL Robotics TALOS official product pageChecked 2026-07-31
AgiBot A3 Ultra maximum hand configuration	51	0	2	3	14	20	0	12	0	The official documentation states 10 optional dexterous-hand DoF per side, supporting up to 20 total. Official 51-active-DoF configuration with up to 20 hand DoF total	Official specification	AgiBot A3 Ultra official developer documentationPublished 2026-06-29Checked 2026-07-31

Methodology

How the dataset is built

Only active DoF or published joint totals are included. Region values stay null when the manufacturer publishes only a total. Optional hands, wrists and waist modules are represented as separate configurations rather than blended into one number.

Editorial analysis

Configurations explain much of the spread

The dataset separates standard Unitree G1 from its maximum EDU configuration. It also keeps basic, gripper and dexterous-hand versions of Booster T1 in separate rows. These are hardware choices rather than revisions to one universal count.

Count active joints on the same basis

A hand can contribute many joints while a mobile or upper-body platform has no articulated legs. Passive movement, coupled joints and independently driven axes should not be silently mixed. The total and body-region fields must be read together.

More articulation is not a task score

Extra joints can expand posture options, but the table does not measure control accuracy, actuator load or task success. Select a configuration using the motions required by the application. A high total alone does not show that a robot can grasp a particular object or recover reliably.

Frequently asked questions

Why does the same robot family appear several times?

Different hand, wrist and body configurations change the total. Separate rows preserve those distinctions.

Sources

Related humanoid infographics

Robot Mass vs Payload Humanoid Robot Sensor Stack Humanoid Hand and Gripper Architecture Humanoid Robot Hardware Stack

Continue with the source-linked humanoid catalog

Open individual robot records for manufacturer, origin, dimensions, availability, public price status and official product links.

Browse humanoid robots Read the main guide