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Mobile-Base Dual-Arm Humanoid Robot with LinkerBot Hand O6 Tactile 6-DOF Dexterous Hands & Wrist RGB Cameras. 16 DOF, Orin Nano 40 TOPS, MID360 LiDAR, stereo vision & full-stack open SDK. The ultimate high-DOF tactile mobile manipulation platform.
R1-A5-D Smart G — mobile-base humanoid with LinkerBot Hand O6 Tactile 6-DOF hands, wrist RGB cameras, MID360 LiDAR & stereo vision
The R1-A5-D Smart G is the convergence of two advanced capabilities: the 6-DOF kinematic complexity of the LinkerBot Hand O6 and integrated tactile sensing for force-aware control. This is the only configuration to combine high-degree-of-freedom articulation with tactile feedback on a mobile base — enabling research in force-controlled high-DOF mobile manipulation, compliant grasping of fragile objects with complex hand poses while navigating, and multi-modal sensorimotor learning that demands both kinematic richness and touch.
The LinkerBot Hand O6 Tactile is the most advanced hand in the LinkerBot lineup. It combines the six-degree-of-freedom joint architecture of the standard O6 with an array of force-sensitive tactile sensors integrated into the fingertips and palm surfaces. This unique combination enables real-time pressure mapping and contact detection across complex hand configurations that are impossible with simpler grippers — critical for force-controlled high-DOF manipulation on a moving platform, compliant grasping of fragile objects in articulated poses while navigating, and physical human-robot interaction where both dexterity and touch matter simultaneously.
LinkerBot Hand O6 Tactile six-degree-of-freedom hands with force-sensitive sensors and wrist RGB cameras
Smart G is the only R1-A5-D configuration to unite 6-DOF kinematic complexity with tactile sensing on a mobile base. The O6 Tactile hands can execute complex multi-point contact strategies, in-hand reorientation with force feedback, and compliant grasping of fragile objects in articulated poses — all while sensing contact forces to prevent damage and adapt grip strength in real time, even as the platform navigates between workstations. The tactile stream fuses with wrist camera RGB data, head binocular vision, and MID360 LiDAR on the Orin Nano 40 TOPS for a complete multi-modal perception pipeline that closes the loop between high-DOF dexterity, touch, and autonomous navigation.
Smart G processes synchronized streams from five sensor modalities on the Orin Nano 40 TOPS: tactile pressure maps from each 6-DOF hand, close-up RGB from wrist cameras, scene-level depth from the head binocular camera, 360° point clouds from the MID360 LiDAR, and proprioceptive data from dual encoders on every joint. This rich multi-modal fusion enables research in tactile-visual-LiDAR servoing for high-DOF mobile hands, affordance prediction with force awareness across complex hand poses, slip-compensated grasping with articulated fingers while navigating, and sensorimotor learning in high-dimensional action spaces — domains where any single modality is insufficient.
The R1-A5-D chassis adds 3 degrees of freedom to the upper body: a telescopic pillar for height adjustment and a 2-DOF wheeled base for omnidirectional navigation. Combined with the MID360 LiDAR and stereo camera head, the robot builds real-time maps, plans paths, and avoids obstacles autonomously — then stops precisely to manipulate. The removable lithium-ion battery in the chassis delivers approximately 1.5 hours of untethered operation.
The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, handling simultaneous streams from tactile sensors, wrist RGB cameras, head binocular vision, and MID360 LiDAR while executing high-dimensional control policies for 6-DOF hands. Run tactile-visual-LiDAR fusion networks, grasp stability predictors, high-DOF policy optimization, and reinforcement learning algorithms with large action spaces locally with sub-millisecond latency. No external GPU server, no cloud dependency — just power on and deploy.
A binocular camera head delivers a 146° × 124° field of view with a 60 mm stereo baseline for scene-level understanding. RGB streams at 1280×720@30 Hz and depth at 544×448@10 Hz. Combined with the MID360 LiDAR, wrist RGB cameras, and tactile arrays on each LinkerBot Hand O6 Tactile, the R1-A5-D Smart G offers the most complete perception stack for research in multi-modal high-DOF mobile manipulation and active perception.
Four-array beamforming microphones and dual 3 W speakers enable clear voice capture and synthesis in noisy labs, warehouses, or classrooms. The open audio framework supports custom wake words, multilingual TTS, and integration with LLMs for conversational command-and-control — even while the base is in motion.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A5-D Smart G navigates standard doorways, elevators, and lab aisles. The telescopic pillar lowers the upper body for transport and raises it for manipulation. At approximately 30 kg with battery, it is a self-contained mobile research platform — no external compute rack, no tether cables during operation.
Collapsed (683 mm) and elevated (1323 mm) configurations for navigation and manipulation
Unitree provides a mature, Linux-based robot development framework with open APIs for the underlying system, robotic arms, mobile base, audio, lighting, visual control, and tactile sensing. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the R1-A5-D Smart G a clean slate for reinforcement learning, tactile high-DOF mobile manipulation research, embodied AI, and autonomous navigation studies. The built-in Orin Nano 40 TOPS handles multi-modal perception and planning locally without external hardware.
Smart G is the top high-DOF tactile mobile configuration. Expand further with platform-level upgrades:
| Model | Unitree R1-A5-D Smart G (Mobile Base) |
| Dimensions (Collapsed) | 683 × 520 × 440 mm (H × W × D) |
| Dimensions (Elevated) | 1323 × 520 × 440 mm (H × W × D) |
| Weight (with Battery) | ~30 kg |
| Total DOF | 16 (Arm 5×2, Waist 1, Head 2, Pillar 1, Base 2) |
| Arm Reach | 420 mm (forearm + upper arm) |
| Peak Shoulder Torque | 60 Nm |
| Max Arm Payload | ~2 kg (posture-dependent) |
| End-Effector Precision | ±0.1 mm |
| End Effectors | LinkerBot Hand O6 Tactile 6-DOF dexterous hands with wrist RGB cameras (both arms, pre-installed) |
| Hand DOF | 6 degrees of freedom per hand with advanced joint architecture |
| Wrist Cameras | RGB camera integrated into each LinkerBot Hand O6 Tactile for close-up visual feedback |
| Tactile Sensing | Force-sensitive fingertips and palm arrays on each hand for pressure mapping, contact detection, and slip prediction in 6-DOF configurations |
| Vision | Binocular camera — RGB 1280×720@30 Hz, Depth 544×448@10 Hz, FOV 146°×124° |
| LiDAR | MID360 360° LiDAR (chassis-integrated) |
| Head Compute | 8-core high-performance CPU + 10 TOPS NPU |
| Body Compute | 8-core high-performance CPU |
| Onboard AI Compute | NVIDIA Jetson Orin Nano 40 TOPS (built-in) |
| Audio | 4-array microphone + dual 3 W speakers |
| Connectivity | Wi-Fi 6, Bluetooth 5.2, OTA updates |
| Power | Removable chassis Li-ion battery (~1.5 h) + external DC PSU. Upper body does not accept a battery. |
| SDK & Interfaces | Linux-based framework, ROS 2, open APIs for arm/base/audio/vision/tactile/lighting |
| Controllers | Standard dual-hand controllers included |
| Warranty | 12 months on the entire unit |
Every configuration shares the same R1-A5-D mobile base — the difference is the end effector. Choose the one that matches your research goals:
| Config | Hand | Features |
|---|---|---|
| Smart A | Dex1-1 V2 | Entry-level parallel grippers, Orin Nano 40 TOPS, MID360 LiDAR |
| Smart B | Dex3-1 (RGB) | 3-finger dexterous hand with wrist RGB camera |
| Smart C | Dex3-1 Tactile (RGB) | 3-finger hand with tactile sensors + wrist RGB camera |
| Smart D | BrainCo Revo 2 Basic (RGB) | 5-finger anthropomorphic hand with wrist RGB camera |
| Smart E | BrainCo Revo 2 Tactile (RGB) | 5-finger hand with tactile sensors + wrist RGB camera |
| Smart F | LinkerBot O6 (RGB) | 6-DOF dexterous hand with wrist RGB camera |
| Smart G | LinkerBot O6 Tactile (RGB) | 6-DOF hand with tactile sensors + wrist RGB camera |
| Smart H | Tendon-driven dexterous hand | Advanced tendon-driven mechanism for research-grade dexterity |
* Specifications are based on manufacturer data and may vary slightly by production batch. Optional compute modules and alternative end effectors sold separately.
Unitree® is a registered trademark of Unitree Robotics. Images are for reference; actual product appearance may differ.
Users must maintain a sufficient safety distance. This is a civilian r
Mobile-Base Dual-Arm Humanoid Robot with LinkerBot Hand O6 Tactile 6-DOF Dexterous Hands & Wrist RGB Cameras. 16 DOF, Orin Nano 40 TOPS, MID360 LiDAR, stereo vision & full-stack open SDK. The ultimate high-DOF tactile mobile manipulation platform.
R1-A5-D Smart G — mobile-base humanoid with LinkerBot Hand O6 Tactile 6-DOF hands, wrist RGB cameras, MID360 LiDAR & stereo vision
The R1-A5-D Smart G is the convergence of two advanced capabilities: the 6-DOF kinematic complexity of the LinkerBot Hand O6 and integrated tactile sensing for force-aware control. This is the only configuration to combine high-degree-of-freedom articulation with tactile feedback on a mobile base — enabling research in force-controlled high-DOF mobile manipulation, compliant grasping of fragile objects with complex hand poses while navigating, and multi-modal sensorimotor learning that demands both kinematic richness and touch.
The LinkerBot Hand O6 Tactile is the most advanced hand in the LinkerBot lineup. It combines the six-degree-of-freedom joint architecture of the standard O6 with an array of force-sensitive tactile sensors integrated into the fingertips and palm surfaces. This unique combination enables real-time pressure mapping and contact detection across complex hand configurations that are impossible with simpler grippers — critical for force-controlled high-DOF manipulation on a moving platform, compliant grasping of fragile objects in articulated poses while navigating, and physical human-robot interaction where both dexterity and touch matter simultaneously.
LinkerBot Hand O6 Tactile six-degree-of-freedom hands with force-sensitive sensors and wrist RGB cameras
Smart G is the only R1-A5-D configuration to unite 6-DOF kinematic complexity with tactile sensing on a mobile base. The O6 Tactile hands can execute complex multi-point contact strategies, in-hand reorientation with force feedback, and compliant grasping of fragile objects in articulated poses — all while sensing contact forces to prevent damage and adapt grip strength in real time, even as the platform navigates between workstations. The tactile stream fuses with wrist camera RGB data, head binocular vision, and MID360 LiDAR on the Orin Nano 40 TOPS for a complete multi-modal perception pipeline that closes the loop between high-DOF dexterity, touch, and autonomous navigation.
Smart G processes synchronized streams from five sensor modalities on the Orin Nano 40 TOPS: tactile pressure maps from each 6-DOF hand, close-up RGB from wrist cameras, scene-level depth from the head binocular camera, 360° point clouds from the MID360 LiDAR, and proprioceptive data from dual encoders on every joint. This rich multi-modal fusion enables research in tactile-visual-LiDAR servoing for high-DOF mobile hands, affordance prediction with force awareness across complex hand poses, slip-compensated grasping with articulated fingers while navigating, and sensorimotor learning in high-dimensional action spaces — domains where any single modality is insufficient.
The R1-A5-D chassis adds 3 degrees of freedom to the upper body: a telescopic pillar for height adjustment and a 2-DOF wheeled base for omnidirectional navigation. Combined with the MID360 LiDAR and stereo camera head, the robot builds real-time maps, plans paths, and avoids obstacles autonomously — then stops precisely to manipulate. The removable lithium-ion battery in the chassis delivers approximately 1.5 hours of untethered operation.
The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, handling simultaneous streams from tactile sensors, wrist RGB cameras, head binocular vision, and MID360 LiDAR while executing high-dimensional control policies for 6-DOF hands. Run tactile-visual-LiDAR fusion networks, grasp stability predictors, high-DOF policy optimization, and reinforcement learning algorithms with large action spaces locally with sub-millisecond latency. No external GPU server, no cloud dependency — just power on and deploy.
A binocular camera head delivers a 146° × 124° field of view with a 60 mm stereo baseline for scene-level understanding. RGB streams at 1280×720@30 Hz and depth at 544×448@10 Hz. Combined with the MID360 LiDAR, wrist RGB cameras, and tactile arrays on each LinkerBot Hand O6 Tactile, the R1-A5-D Smart G offers the most complete perception stack for research in multi-modal high-DOF mobile manipulation and active perception.
Four-array beamforming microphones and dual 3 W speakers enable clear voice capture and synthesis in noisy labs, warehouses, or classrooms. The open audio framework supports custom wake words, multilingual TTS, and integration with LLMs for conversational command-and-control — even while the base is in motion.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A5-D Smart G navigates standard doorways, elevators, and lab aisles. The telescopic pillar lowers the upper body for transport and raises it for manipulation. At approximately 30 kg with battery, it is a self-contained mobile research platform — no external compute rack, no tether cables during operation.
Collapsed (683 mm) and elevated (1323 mm) configurations for navigation and manipulation
Unitree provides a mature, Linux-based robot development framework with open APIs for the underlying system, robotic arms, mobile base, audio, lighting, visual control, and tactile sensing. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the R1-A5-D Smart G a clean slate for reinforcement learning, tactile high-DOF mobile manipulation research, embodied AI, and autonomous navigation studies. The built-in Orin Nano 40 TOPS handles multi-modal perception and planning locally without external hardware.
Smart G is the top high-DOF tactile mobile configuration. Expand further with platform-level upgrades:
| Model | Unitree R1-A5-D Smart G (Mobile Base) |
| Dimensions (Collapsed) | 683 × 520 × 440 mm (H × W × D) |
| Dimensions (Elevated) | 1323 × 520 × 440 mm (H × W × D) |
| Weight (with Battery) | ~30 kg |
| Total DOF | 16 (Arm 5×2, Waist 1, Head 2, Pillar 1, Base 2) |
| Arm Reach | 420 mm (forearm + upper arm) |
| Peak Shoulder Torque | 60 Nm |
| Max Arm Payload | ~2 kg (posture-dependent) |
| End-Effector Precision | ±0.1 mm |
| End Effectors | LinkerBot Hand O6 Tactile 6-DOF dexterous hands with wrist RGB cameras (both arms, pre-installed) |
| Hand DOF | 6 degrees of freedom per hand with advanced joint architecture |
| Wrist Cameras | RGB camera integrated into each LinkerBot Hand O6 Tactile for close-up visual feedback |
| Tactile Sensing | Force-sensitive fingertips and palm arrays on each hand for pressure mapping, contact detection, and slip prediction in 6-DOF configurations |
| Vision | Binocular camera — RGB 1280×720@30 Hz, Depth 544×448@10 Hz, FOV 146°×124° |
| LiDAR | MID360 360° LiDAR (chassis-integrated) |
| Head Compute | 8-core high-performance CPU + 10 TOPS NPU |
| Body Compute | 8-core high-performance CPU |
| Onboard AI Compute | NVIDIA Jetson Orin Nano 40 TOPS (built-in) |
| Audio | 4-array microphone + dual 3 W speakers |
| Connectivity | Wi-Fi 6, Bluetooth 5.2, OTA updates |
| Power | Removable chassis Li-ion battery (~1.5 h) + external DC PSU. Upper body does not accept a battery. |
| SDK & Interfaces | Linux-based framework, ROS 2, open APIs for arm/base/audio/vision/tactile/lighting |
| Controllers | Standard dual-hand controllers included |
| Warranty | 12 months on the entire unit |
Every configuration shares the same R1-A5-D mobile base — the difference is the end effector. Choose the one that matches your research goals:
| Config | Hand | Features |
|---|---|---|
| Smart A | Dex1-1 V2 | Entry-level parallel grippers, Orin Nano 40 TOPS, MID360 LiDAR |
| Smart B | Dex3-1 (RGB) | 3-finger dexterous hand with wrist RGB camera |
| Smart C | Dex3-1 Tactile (RGB) | 3-finger hand with tactile sensors + wrist RGB camera |
| Smart D | BrainCo Revo 2 Basic (RGB) | 5-finger anthropomorphic hand with wrist RGB camera |
| Smart E | BrainCo Revo 2 Tactile (RGB) | 5-finger hand with tactile sensors + wrist RGB camera |
| Smart F | LinkerBot O6 (RGB) | 6-DOF dexterous hand with wrist RGB camera |
| Smart G | LinkerBot O6 Tactile (RGB) | 6-DOF hand with tactile sensors + wrist RGB camera |
| Smart H | Tendon-driven dexterous hand | Advanced tendon-driven mechanism for research-grade dexterity |
* Specifications are based on manufacturer data and may vary slightly by production batch. Optional compute modules and alternative end effectors sold separately.
Unitree® is a registered trademark of Unitree Robotics. Images are for reference; actual product appearance may differ.
Users must maintain a sufficient safety distance. This is a civilian r
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