Our Unitree G1 EDU U3 humanoid robot, nicknamed 'Saaki', just like the project.
Saaki is the first project in the world to integrate a bipedal humanoid robot into a real operational environment within a hospital. This project will be carried out by our organization, Bioaraba, within the Innovation Support Unit (UAI). The robot will be deployed in the pediatrics department of the Araba University Hospital – Txagorritxu.
At the same time, we will continue researching the robot and, on our GitHub, we will publish code repositories and documentation about the Unitree G1. This will be the main repository, containing documentation in a "wiki" format and links to the rest of the repositories.
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To access the Wiki home page:
To see part of the work we are developing:
- SDK code and examples:
- ROS2 packages:
- Program to generate compatible audios:
- Survey application about the robot:
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Juan Fernández
🎯 Innovation Support Unit Coordinator – Bioaraba Health Research Institute
🔬 Responsible for technical leadership and institutional coordination
🐈⬛ GitHub Profile
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Andoni González
🎓 Internship and Bachelor's Thesis Student - Bachelor's Degree in Computer Engineering, Management and Information Systems
🏫 University of the Basque Country - UPV/EHU
💻 Technical development and documentation
🐈⬛ GitHub Profile
- 🏥 Incorporation of a bipedal humanoid robot into a healthcare environment
- 🔬 Research in AI and humanoid robotics applied to healthcare
- 🎓 Training students in advanced robotic technologies
- 💡 Innovation in humanoid robot control and programming
- 🤝 Interinstitutional collaboration in technology projects
- 🤖 Saaki as a multiproject and research platform
| # | Phase | Activity | Start Date | End Date | Status | Progress |
|---|---|---|---|---|---|---|
| 0. | Research | Research on the robot and its capabilities | 15/09/2025 | --/--/---- | ♻️ Ongoing | |
| 0. | WIKI | Wiki and GitHub repositories generation | 15/09/2025 | --/--/---- | ♻️ Ongoing | |
| 1. | Analysis and state of the art | Analyze hardware, software, and state of the art | 15/09/2025 | 13/10/2025 | ✅ Completed | 🟩🟩🟩🟩 100% |
| 2. | APP surveys | App to collect 2 surveys in the first project | 13/10/2025 | 03/11/2025 | ✅ Completed | 🟩🟩🟩🟩 100% |
| 3. | AUDIOS program | Audio generation with Python | 03/11/2025 | 10/11/2025 | ✅ Completed | 🟩🟩🟩🟩 100% |
| 4. | Learn and install SDK | Install, understand, and use the SDK | 10/11/2025 | 01/12/2025 | ✅ Completed | 🟩🟩🟩🟩 100% |
| 5. | Low level control | Achieve a functional low-level DEMO on the robot | 01/12/2025 | 05/01/2026 | ✅ Completed | 🟩🟩🟩🟩 100% |
| 6. | High level control | Achieve a functional high-level DEMO on the robot | 05/01/2026 | 02/02/2026 | ✅ Completed | 🟩🟩🟩🟩 100% |
| 7. | Learn and install ROS2 | Install, understand, and use the ROS2 repo | 02/02/2026 | 16/02/2026 | ✅ Completed | 🟩🟩🟩🟩 100% |
| 8. | ROS2 packages development | Develop some ROS2 packages for the robot | 16/02/2026 | 02/03/2026 | ✅ Completed | 🟩🟩🟩🟩 100% |
| 9. | Learn and install RL | Install, understand, and use the RL repo | 02/03/2026 | 30/03/2026 | ✅ Completed | 🟩🟩🟩🟩 100% |
| 10. | Reinforcement Learning | Experimentation with Reinforcement Learning | 30/03/2026 | 13/04/2026 | ✅ Completed | 🟩🟩🟩🟩 100% |
| 11. | Learn and install IL | Install, understand, and use the IL repo | 13/04/2026 | 18/05/2026 | ✅ Completed | 🟩🟩🟩🟩 100% |
| 12. | Teleoperation | Achieve teleoperation in simulation and reality | 27/04/2026 | 04/05/2026 | ✅ Completed | 🟩🟩🟩🟩 100% |
| 13. | Imitation Learning | Experimentation with Imitation Learning | 18/05/2026 | 25/05/2026 | ✅ Completed | 🟩🟩🟩🟩 100% |
| 14. | VLA / WMA | Experimentation with VLA and WMA | 25/05/2026 | 19/06/2026 | 🔄 In progress | 🟨🟨🟨🟨 10% |
| 15. | Local conversations | Integrate with a local LLM | 19/06/2026 | ??/??/???? | ⏳ Pending | 🟥🟥🟥🟥 0% |
| 16. | Indoor navigation | Make the robot navigate indoors | 🔮 Future | ⬜⬜⬜⬜ | ||
| 17. | Controller programming | Program the controller to our needs | 🔮 Future | ⬜⬜⬜⬜ | ||
| 28. | Surgical movements | Achieve finer movements | 🔮 Future | ⬜⬜⬜⬜ |
This software and the accompanying materials are provided “as is,” without warranties of any kind, either express or implied, including—but not limited to—warranties of merchantability, fitness for a particular purpose, or absence of errors.
The authors and Bioaraba – Health Research Institute assume no responsibility for the use, redistribution, or modification of this repository, nor for any direct or indirect damages arising from its use.
This project is intended exclusively for research and/or educational purposes. It is not intended for clinical, diagnostic, therapeutic, or healthcare use, nor does it replace certified tools or professional judgment in healthcare settings.
Notwithstanding the foregoing, use of the software and the robotic system shall be at the user’s own risk. The user must verify its suitability for the intended purpose and adopt all necessary safety, supervision, and control measures based on the environment and conditions of use.
The user shall be responsible for any consequences arising from improper, negligent, or non-compliant use, including any personal injury or property damage that may occur.
To the fullest extent permitted by applicable law, Bioaraba shall not be liable for any damages arising from the use of the software or robotic system when such damages result from defective implementation, insufficient supervision, inappropriate use decisions by the user, or failure to observe recommended safety measures.