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Teardown · Robot dog
The Go1 came apart into more computers than any robot in this library: NVIDIA Jetson modules for the cameras and a Raspberry Pi for the rest. Nothing is ground blank. Set it next to the Go2 and you can see exactly what Unitree changed: the brains were replaced, the 4G card was not.
Tap a number
Each number is a part found in the teardown. X-ray fades the shell to show where the parts sit inside.
Robot model: Unitree's own published model via MuJoCo Menagerie, © Unitree Robotics, BSD-3-Clause. Where each board sits inside the body is approximate.
Read: the name is printed on the part and legible. Not visible: under a shield or too small to read.
Compute modules on SO-DIMM edge connectors, each under a heatsink and fan, carry a chip marked NVIDIA TM660M-A2: the Tegra X1 used on the Jetson Nano, four Arm Cortex-A57 cores and a 128-core NVIDIA GPU. More than one module is photographed.
Why several. The Go1 splits its camera processing across these modules instead of doing it on one chip; the Go2 later did all of it on a single RK3588S.
A green Raspberry Pi Compute Module 4, marked RPI-CM4Lite-R1.3, with a Broadcom BCM2711 (printed 2711ZPKFSB06C0T). "Lite" means no built-in storage chip, so it boots from elsewhere on the carrier board.
It sits on its own carrier board next to the 4G card and a coin-cell battery for the clock.
A standard mini PCIe card, labelled EG25GGB-MINIPCIE, with sockets marked MAIN, GNSS and DIV. With the lid off: a Qualcomm MDM9207 modem, Nanya NM1282KSLAXAL memory and Qorvo 77031 and 77033 amplifiers.
That is the same card, chip for chip, that Unitree put in the Go2 three years later. A GPS antenna and an LTE antenna are fitted.
Camera boards with two wide-angle lenses side by side are fitted in the head and the body. Two lenses a known distance apart give depth, the same way two eyes do, which is how the Go1 sees steps and obstacles.
The leg motor was opened: copper stator windings, and on its back a round driver board marked MDRV_TINY V0.6. It has six power transistors (two per motor phase), three 1.5 mΩ current-sense resistors (marked 1R5m), phase pads A, B, C, and power connectors in and out so the motors chain on one cable.
The control chip on it carries no readable marking in the photos.
A small blue module with two antenna sockets and a square radio chip. Its marking is too small to read in the photos.
Three UWB antennas sit in the head, marked on the teardown. UWB measures distance and direction to a tag, which is how the Go1 follows its remote.
The Go1 needed several NVIDIA Jetson modules plus a Raspberry Pi, each with its own cooling. The Go2 replaced all of them with one Rockchip RK3588S core board. The leg driver moved from MDRV_TINY to M12_MDRV. The 4G card did not change at all: the same Quectel EG25-G with the same Qualcomm, Nanya and Qorvo chips inside.
| Part | What is printed on it | Role | Sure? |
|---|---|---|---|
| Vision computer | NVIDIA TM660M-A2 (Tegra X1) | Camera processing | Read |
| Network computer | Raspberry Pi CM4 Lite · RPI-CM4Lite-R1.3 | App, network | Read |
| CM4 processor | Broadcom BCM2711 (2711ZPKFSB06C0T) | Inside the CM4 | Read |
| 4G card | Quectel EG25-G · EG25GGB-MINIPCIE | Mobile data | Read |
| Modem chip | Qualcomm MDM9207 | Inside the 4G card | Read |
| Modem memory | Nanya NM1282KSLAXAL | Inside the 4G card | Read |
| Power amplifiers | Qorvo 77031, 77033 | Inside the 4G card | Read |
| Cameras | stereo fisheye pairs | Depth and obstacles | Read |
| Leg motor driver | MDRV_TINY V0.6 | Drives one joint | Read |
| Current sensors | 3 × 1R5m (1.5 mΩ) | Motor current | Read |
| Wi-Fi module | (chip too small to read) | Wi-Fi | Not visible |
| Antennas | UWB ×3, GPS, LTE, Wi-Fi | Radios | Read |
Parts on this page that we have also found inside other robots in the library.
Several: NVIDIA Jetson modules with the TM660M-A2 chip (the Tegra X1 used on the Jetson Nano) for the cameras, and a Raspberry Pi Compute Module 4 Lite (Broadcom BCM2711) on its own carrier board.
The unit that was taken apart has a Quectel EG25-G mini PCIe card with a Qualcomm MDM9207 modem, Nanya memory and Qorvo 77031/77033 amplifiers, plus GPS and LTE antennas. The Go2 uses the identical card.
The computers: the Go1 uses several NVIDIA Jetson modules and a Raspberry Pi CM4, the Go2 one Rockchip RK3588S core board. The leg motor driver changed from MDRV_TINY to M12_MDRV. The Quectel EG25-G 4G card stayed the same, chip for chip.
Based on laboratory teardown photographs of a Go1 test unit, 2021. The photos are not reproduced here; sizes are approximate. Production units and Go1 variants (Air, Pro, Edu) may differ. Not affiliated with Unitree. Spotted a mistake? Tell us and we will fix it.
Plain-text version for AI tools: /ai/unitree-go1.md · all references