Unitree R1-7a As2 Professional D | 14-DOF Tactile Mobile Manipulator

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Unitree Robotics -- Official Robotic Arm

Name: Unitree R1-7a As2 Professional D Robotic Arm
Brand: Unitree
SKU: R1-7A-AS2-PROFESSIONAL-D-ARM
Price: 11089 USD
Availability: SoldOut

Unitree R1-7a As2 Professional D

R1 Series Professional D 14 DOF (7+7) As2 Quadruped Ready RGB Camera 33 Tactile Sensors Left/Right Versions

Official 14-DOF mobile manipulation system designed for the Unitree As2 industrial quadruped robot. The R1-7a As2 Professional D combines the R1-7a Standard arm with the Dex3-1 force-controlled three-finger dexterous hand (tactile, with integrated RGB camera) and specialized As2 adapter base for immediate deployment. Featuring 14 total degrees of freedom (7 arm joints + 7 dexterous hand DOF: thumb 3, index 2, middle 2), 44.3 lb·ft (60 N·m) max joint torque, 33 tactile sensors with 0.35~88.2 oz (10g~2500g) sensing range, and the Dex3-1 hand with 1.43 lb (650 g) weight. Complete mobile manipulation solution with three-finger dexterity, direct tactile feedback, and on-hand vision. Available in left-arm and right-arm mirror-image versions.

Total DOF

44.3 lb·ft

Max Arm Torque

Tactile Sensors

1.43 lb

Hand Weight

As2

Quadruped Mount

12 mo

Warranty

Professional D vs. Professional C: The R1-7a As2 Professional D includes all features of the As2 Professional C configuration and upgrades the Dex3-1 hand to the tactile variant, adding 33 integrated tactile sensors with a 0.35~88.2 oz (10g~2500g) sensing range. This enables direct contact force measurement, slip detection, texture recognition, and adaptive grip control -- capabilities not available in the non-tactile Professional C variant.

Product Overview

The Unitree R1-7a As2 Professional D is the most advanced 14-DOF mobile manipulation system in the R1-7a As2 lineup, designed to transform the Unitree As2 industrial quadruped into a highly capable mobile worker with full tactile and visual feedback. Building on the proven R1-7a Standard arm with its 7 degrees of freedom and 44.3 lb·ft (60 N·m) maximum joint torque, the Professional D variant adds the Dex3-1 force-controlled three-finger dexterous hand (tactile, with RGB camera) and As2 adapter base as standard equipment.

The arm features low-inertia high-speed inner-rotor PMSM bionic joint motors with high burst output, housed in a lightweight 12.1 lb (5.5 kg) metal body. The integrated Dex3-1 Tactile dexterous hand features a three-finger architecture with 7 DOF (thumb 3, index finger 2, middle finger 2), 1.43 lb (650 g) weight, 6.9" x 3.5" x 3.0" (175 x 88 x 77 mm) dimensions, 12~58V operating voltage, 33 tactile sensors with 0.35~88.2 oz (10g~2500g) sensing range, and an integrated RGB camera for visual feedback. The specialized As2 mounting interface ensures secure, vibration-resistant attachment to the robot dog's back. Each arm joint utilizes dual encoders for precise feedback. Supports high-speed 485 communication for the arm and USB for the hand.

14-DOF Complete System

7 arm joints plus 7 dexterous hand DOF deliver a fully integrated three-finger mobile manipulation solution. Dex3-1 Tactile hand with RGB camera and As2 mounting base included.

33 Tactile Sensors

Integrated tactile sensing array with 0.35~88.2 oz (10g~2500g) range enables direct contact force measurement, slip detection, texture recognition, and adaptive grip control.

Dex3-1 Three-Finger Dexterous Hand

Force-controlled three-finger hand (tactile) with thumb 3 DOF, index 2 DOF, middle 2 DOF. 1.43 lb (650 g) weight, 12~58V operating voltage, USB interface, and RGB camera.

44.3 lb·ft (60 N·m) Torque

7 independent joints driven by low-inertia high-speed inner-rotor PMSM motors. High burst output enables robust manipulation while the quadruped is in motion.

Dual Encoder Per Joint

Each of the 7 arm motors is equipped with a dual encoder system for redundant, high-resolution position feedback, ensuring precise tracking even on uneven terrain.

Dual Communication Interfaces

High-speed 485 for arm control and USB for dexterous hand communication. Enables coordinated control of arm and hand through unified system integration.

Dex3-1 Tactile Three-Finger Dexterous Hand

The R1-7a As2 Professional D comes equipped with the Dex3-1 force-controlled three-finger dexterous hand (tactile), providing advanced manipulation capability with integrated tactile and visual feedback:

Dex3-1 Tactile Dexterous Hand -- Standard Equipment

Type: Force-controlled three-finger dexterous hand (tactile, with RGB camera).
Weight: 1.43 lb (650 g) -- lightweight design minimizes impact on quadruped dynamics.
Dimensions: 6.9" x 3.5" x 3.0" (175 x 88 x 77 mm) -- compact form factor optimized for mobile manipulation.
DOF per Hand: 7 total (thumb 3 DOF, index finger 2 DOF, middle finger 2 DOF).
Operating Voltage: 12~58V DC -- wide voltage range compatible with the As2 quadruped power systems.
Quiescent Current: 58V @ 0.2A -- low standby power consumption for efficient operation.
Communication Interface: USB -- standard interface for easy integration with host computers and robot control systems.
Tactile Sensors: 33 sensors distributed across the hand surface for comprehensive contact detection.
Sensing Range: 0.35~88.2 oz (10g~2500g) -- wide dynamic range from delicate touch detection to firm grip force measurement.
RGB Camera: Integrated camera for on-hand visual feedback during manipulation tasks.

33 Tactile Sensors

The Dex3-1 Tactile dexterous hand features 33 integrated tactile sensors, providing direct contact force feedback across the hand surface:

Tactile Sensing Array -- 33 Sensors

33 Tactile Sensors: Distributed across the three-finger hand surface for comprehensive contact detection and force mapping.
Sensing Range: 0.35~88.2 oz (10g~2500g) -- wide dynamic range from delicate touch detection to firm grip force measurement.
Direct Force Measurement: Unlike non-tactile variants that rely on motor current estimation, tactile sensors provide direct, accurate contact force readings.
Slip Detection: Real-time tactile feedback enables slip detection and automatic grip adjustment to prevent object dropping during mobile manipulation.
Texture Recognition: Tactile sensor array supports surface texture analysis for material identification and quality inspection.
Adaptive Grip Control: Force feedback enables closed-loop grip control, adjusting pressure based on object fragility and surface properties.
Contact Localization: Distributed sensor array identifies contact location and pressure distribution for intelligent manipulation planning.

Integrated RGB Camera

The Dex3-1 Tactile dexterous hand features an integrated RGB camera, providing critical visual feedback directly at the point of manipulation:

RGB Camera -- Integrated in Dexterous Hand

On-Hand Vision: Camera positioned at the dexterous hand provides first-person view of the manipulation workspace, enabling precise object identification and positioning.
Object Recognition: RGB imagery supports real-time object classification, color detection, and feature identification during manipulation tasks.
Visual Servoing: Close-proximity camera enables visual feedback control loops for precision grasping, alignment, and placement operations.
Quality Inspection: High-resolution imagery supports in-process quality checks, defect detection, and verification of manipulation outcomes.
SDK Integration: Full SDK support for camera control, image processing, and integration with arm control systems for coordinated vision-manipulation workflows.
Reduced External Dependencies: Integrated camera eliminates the need for separate external vision systems on the quadruped for many manipulation tasks.

Unitree As2 Quadruped Integration

The R1-7a As2 Professional D is engineered for seamless synergy with the Unitree As2 industrial robot dog:

Mobile Manipulation Ready

Specialized Mounting Interface: Precision-machined mounting pattern ensures perfect, rigid alignment with the As2 robot's backplate, eliminating play during dynamic movement.
Vibration Resistance: Mounting hardware and arm joint bearings are selected to withstand the vibrations and shocks inherent in quadruped locomotion over rough terrain.
Weight Optimization: At 12.1 lb (5.5 kg) for the arm plus 1.43 lb (650 g) for the hand, the system is lightweight enough to allow the As2 to maintain its high speed (>5 m/s) and significant payload capacity.
Unified Power & Data: Designed to integrate cleanly with the As2's power bus and communication network, simplifying cabling and system architecture.
Mobile Inspection & Interaction: Transforms the As2 from a pure mobility platform into a versatile mobile manipulator capable of opening doors, pressing buttons, and retrieving objects in industrial environments.
Tactile + Vision Synergy: Combined tactile and visual feedback enables sophisticated mobile manipulation tasks such as blind grasping, object exploration, and adaptive handling in unstructured environments.

Left/Right Arm Mirror Configuration

The R1-7a As2 Professional D is available in left-arm and right-arm versions, allowing for flexible single-arm or dual-arm mobile manipulation setups on the quadruped:

Left-Arm & Right-Arm Mirror Versions

Mirror-Image Design: Left and right arms are precise mirror images of each other, enabling symmetrical bimanual manipulation if two arms are mounted on a custom As2 rig.
Default Right-Arm SKU: For single-arm mobile manipulation applications, the default configuration is the right-arm SKU. Specify left-arm when required.
Selection Guidance: When left/right distinction is required, select per actual needs. Both versions share identical technical specifications and performance characteristics.

Ultra-Wide Joint Motion Range

The R1-7a As2 Professional D distributes 7 degrees of freedom across its arm joints with an ultra-wide motion range optimized for mobile manipulation:

J1 Joint: -156° to 156° | Peak torque 44.3 lb·ft (60 N·m). Provides the primary base rotation for wide workspace coverage from the quadruped's back.
J2 Joint: 0° to 180° | Peak torque 44.3 lb·ft (60 N·m). Delivers powerful shoulder movement for reaching down to the ground or up to high surfaces.
J3 Joint: -20° to 200° | Peak torque 44.3 lb·ft (60 N·m). Ultra-wide range enables deep reach and complex spatial positioning around the robot's body.
J4 Joint: 0° to 180° | Peak torque 44.3 lb·ft (60 N·m). High-speed rotation for rapid orientation changes.
J5 Joint: -130° to 130° | Peak torque 44.3 lb·ft (60 N·m). Provides precise pitch control for end-effector alignment.
J6 Joint: -30° to 30° | Peak torque 44.3 lb·ft (60 N·m). Fine-tuned roll adjustment for delicate manipulation tasks.
J7 Joint: -90° to 90° | Peak torque 44.3 lb·ft (60 N·m). Final joint orientation for exact tool or gripper positioning.

Control System & Interfaces

The R1-7a As2 Professional D provides comprehensive real-time control and flexible integration options for mobile robotics applications:

Arm Communication Protocol

High-speed 485 communication interface for the arm. Robust, noise-resistant protocol suitable for humanoid robot integration and industrial environments.

Hand Communication Interface

USB interface for the Dex3-1 dexterous hand. Standard interface for easy integration with host computers and robot control systems.

Total DOF

14 DOF (7 arm joints + 7 dexterous hand). Coordinated control of arm and hand through unified communication interfaces.

Operating Temperature

Wide operating range of -4°F to 122°F (-20°C to 50°C). Ensures reliable performance in diverse outdoor and industrial environments.

Power & Consumption

The R1-7a As2 Professional D offers efficient power management optimized for mobile quadruped integration:

Supply Voltage

Wide operating range of 24 V to 60 V DC. Ensures direct compatibility with the Unitree As2's standard robot power bus.

Power Consumption

Peak power 700 W; typical power ≤ 50 W. Highly efficient power management to preserve the quadruped's battery endurance during mobile manipulation.

External Power Supply

Power is drawn from the host system via the XT30 port. Dedicated arm power adapter is NOT included or required when mounted to the As2.

Power & Data Module Kit

Comes with power & data module accessory kit x1 for immediate, clean integration with the quadruped's power and communication systems.

What's Included (Per Arm)

Each R1-7a As2 Professional D package contains the following components:

Arm	R1-7a Robotic Arm Unit	Complete 7-DOF robotic arm assembly with low-inertia high-speed inner-rotor PMSM motors, dual encoders, and industrial crossed-roller bearings. Specify left or right arm version.
Hand	Dex3-1 Tactile Dexterous Hand with RGB Camera (x1)	Standard equipment -- Dex3-1 force-controlled three-finger dexterous hand (tactile) with 7 DOF, 33 tactile sensors (0.35~88.2 oz / 10g~2500g range), 1.43 lb (650 g) weight, and integrated RGB camera.
Mounting Kit	As2 Quadruped Mounting Interface	Specialized mounting hardware and interface plate designed specifically for secure attachment to the Unitree As2 robot dog backplate.
Accessory Kit	Power & Data Module Kit (x1)	Power and data module accessory kit for clean integration with the As2's onboard systems.
Documentation	Development Documentation	Comprehensive development documentation, SDK reference, API documentation, and As2 integration guidelines.

Important Notes

Left/Right arm selection: The R1-7a comes in left-arm and right-arm versions (mirror images). For single-arm mobile applications, default is right-arm SKU. Specify left-arm when required.
As2 Integration: This package is specifically configured for mounting on the Unitree As2 quadruped robot. Ensure your host platform is compatible.
Dex3-1 Tactile hand: Force-controlled three-finger dexterous hand (tactile) with 33 tactile sensors and 0.35~88.2 oz (10g~2500g) sensing range for direct contact force measurement.
RGB camera included: The Dex3-1 Tactile hand includes an integrated RGB camera for on-hand visual feedback.
Power integration: Power is supplied via the XT30 port from the host quadruped's power bus (24V-60V). Ensure the As2 power system can handle the 700W peak load during dynamic manipulation.
Hand specifications: Dex3-1 Tactile dimensions: 6.9" x 3.5" x 3.0" (175 x 88 x 77 mm). Weight: 1.43 lb (650 g). DOF: 7 (thumb 3, index 2, middle 2).
Hand operating voltage: 12~58V DC. Quiescent current: 58V @ 0.2A.
Communication interfaces: Arm uses high-speed 485; hand uses USB. Ensure compatibility with your As2 communication system.
Technical support: Excellent technical support and comprehensive development documentation provided. Full ecosystem support for mobile quadruped integration.
12-month warranty: 12-month warranty on the entire unit. Warranty covers manufacturing defects and normal operational use.

Technical Specifications

Product Name	R1-7a As2 Professional D
Product Series	Unitree R1 Humanoid Robot Arm (As2 Quadruped Configuration)
Arm Version	Left-arm or Right-arm (mirror images, default right-arm for single-arm applications)
Total Degrees of Freedom	14 (7 arm joints + 7 dexterous hand)
Arm Joint Motors	Low-inertia high-speed inner-rotor PMSM; bionic joint motor with high torque and high burst output
Max Joint Torque	44.3 lb·ft (60 N·m)
Joint Feedback	Dual encoders
Hand Model	Dex3-1 force-controlled three-finger dexterous hand (tactile, with RGB camera)
Hand Weight	1.43 lb (650 g)
Hand Dimensions	6.9" x 3.5" x 3.0" (175 x 88 x 77 mm)
Hand DOF	7 (thumb 3, index finger 2, middle finger 2)
Hand Operating Voltage	12~58V DC
Hand Quiescent Current	58V @ 0.2A
Hand Communication Interface	USB
Tactile Sensors	33 sensors
Tactile Sensing Range	0.35~88.2 oz (10g~2500g)
RGB Camera	Integrated in Dex3-1 Tactile Dexterous Hand
Mounting Configuration	Specialized interface and hardware for Unitree As2 quadruped robot backplate
Arm Communication Protocol	High-speed 485
Supply Voltage	24 V to 60 V DC
Power Consumption	Peak power 700 W; typical power ≤ 50 W
Operating Temperature	-4°F to 122°F (-20°C to 50°C)
Accessory Kit	Power & data module accessory kit x1 + As2 mounting hardware included
Warranty	12-month warranty on the entire unit

* Specifications are based on manufacturer data and may vary slightly by production batch.

* The R1-7a As2 Professional D includes all features of the R1-7a Standard arm plus the Dex3-1 force-controlled three-finger dexterous hand (tactile, with RGB camera) and specialized mounting hardware for the Unitree As2 quadruped robot.

* Left/right arm versions available (mirror images). Default is right-arm SKU for single-arm applications.

* RGB camera and 33 tactile sensors are integrated in the Dex3-1 Tactile dexterous hand for on-hand visual and force feedback.

* Tactile sensing range: 0.35~88.2 oz (10g~2500g).

* Power is drawn from the host quadruped via XT30 port (24V-60V). Peak power: 700W. Ensure the As2 power bus can handle dynamic peak loads.

* Hand operating voltage: 12~58V DC. Quiescent current: 58V @ 0.2A. Communication interface: USB.

* Secondary development requires advanced programming skills and familiarity with multi-DOF robotics control and mobile quadruped integration.

* Unitree and As2 are registered trademarks of Unitree Robotics.

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