Replacing a Unitree G1 joint
What a non-Chinese replacement has to match, why builders are looking, and what's available as of October 2026.
Ian Daily · October 23, 2026
The joints in question
The G1's large joints are two-stage planetary units on the same roughly 75 mm motor, in two gear ratios:
| Ratio | Peak torque | Speed | Typical use |
|---|---|---|---|
| 22.5:1 | ~139 N·m | ~191 rpm | Knee, hip pitch |
| 14.3:1 | ~88 N·m | ~306 rpm | Hip roll/yaw, waist |
Why builders are looking
- 1260H. The Pentagon added Unitree to its list of Chinese military companies on June 8, 2026. Organizations with defense money are reviewing what they buy. What the listing means.
- FCC authorization. Since July 28, 2026, a new mobile robot model needs more than 65% U.S. component cost to get authorized. In a legged robot, joints are most of that cost. How the rule works · check your robot.
- Supply. Existing G1s keep selling, but new Chinese models can't be authorized, so the next platform has to come from somewhere else.
What a replacement has to match
Torque and speed are the easy part. A true swap also matches the mounts and envelope, the connector and harness, the joint bus protocol, and the controller's expectations. We rate every joint on how much of that it matches:
What's available
We haven't found a non-Chinese joint that drops into a G1 unmodified. What exists today is joints in the same class:
- OpenTree GK1 (22.5:1 class) and GH1 (14.3:1 class): two-stage planetary, EtherCAT, designed for U.S. production. Equivalent tier, specs are targets until the dyno datasheet. Evaluation pair $14,500, shipping Q1 2027; Production Lot 1 $2,500 a joint.
- Other makers' joints go up in the catalog as they agree to be listed, each with its fit tier and compliance checks.
Questions
Is there a drop-in replacement for Unitree G1 joints made outside China?
Not that we've found as of October 2026. Non-Chinese joints in the same torque class exist or are coming, but they need mechanical and software work to go into a G1. We list each one with its fit tier so you can see exactly how far off it is.
Can I keep using my G1?
Yes. The FCC rule stops new foreign-produced models from getting authorized; the G1 was authorized before July 28, 2026 and keeps selling. The pressure falls on new robots you build and on organizations reviewing Unitree after its 1260H listing.
What torque class are the G1's large joints?
About 139 N·m peak at 191 rpm (22.5:1) and 88 N·m peak at 306 rpm (14.3:1). Both are two-stage planetary units on the same roughly 75 mm motor.
Sources: FCC Public Notice DA 26-786 (Covered List, July 28, 2026); U.S. Department of Defense 1260H list update (June 8, 2026); G1 joint figures from builder data. The 65% rule in detail. Unitree and G1 are trademarks of their owners.