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Unitree Robotics — Ultimate Series
Unitree R1-A5-D Ultimate E
Mobile-Base Dual-Arm Humanoid Robot with BrainCo Revo 2 Tactile 5-Finger Hands & Wrist RGB Cameras. 16 DOF, Orin NX 100 TOPS, 16 GB RAM, dual DLA cores, MID360 LiDAR, stereo vision & full-stack open SDK. The ultimate anthropomorphic tactile mobile manipulation platform.
R1-A5-D Ultimate E — mobile-base humanoid with BrainCo Revo 2 Tactile five-finger hands, wrist RGB cameras, MID360 LiDAR & stereo vision
16
Total DOF
5+5
Arm DOF
60
Nm Torque
~2
kg Payload
100
TOPS AI
What's in This Configuration
The R1-A5-D Ultimate E adds integrated tactile sensing to the BrainCo Revo 2 five-finger anthropomorphic hands — combining force-sensitive fingertips and palm arrays with the human-like hand form factor, wrist RGB cameras, and the NVIDIA Jetson Orin NX 100 TOPS compute module. Each hand features five independently actuated fingers (thumb, index, middle, ring, pinky) with a thumb-opposable architecture that mirrors human hand kinematics, now augmented with real-time pressure mapping and contact detection. This transforms the BrainCo Revo 2 from a visually-guided anthropomorphic manipulator into a touch-aware human-like hand — enabling force-controlled grasping, slip detection, and compliant interaction with fragile objects while navigating. With 16 GB RAM and dual DLA cores, the Orin NX fuses tactile pressure maps, wrist-camera RGB, head stereo depth, and MID360 LiDAR point clouds in real time — the most complete multi-modal perception pipeline in the R1-A5-D lineup.
✓ R1-A5-D Mobile Base Body
Full upper-body humanoid on a wheeled autonomous chassis: dual 5-DOF arms, 1-DOF waist, 2-DOF head, 1-DOF pillar, 2-DOF base. 683×520×440 mm collapsed, ~30 kg with battery.
✓ BrainCo Revo 2 Tactile 5-Finger Hands
Five-finger anthropomorphic hands with force-sensitive fingertips and palm arrays for pressure mapping, contact detection, and slip prediction — combining human-like form factor with touch awareness on a mobile platform.
✓ Tactile Sensor Array
Force-sensitive fingertips and palm regions on each hand enabling pressure mapping, contact detection, and slip prediction for force-aware control in five-finger configurations.
✓ Wrist RGB Cameras
Dedicated RGB cameras mounted on each wrist for close-up visual feedback, pose estimation, and grasp verification during navigation and manipulation.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Orin NX 100 TOPS
Built-in NVIDIA Jetson Orin NX with 8-core CPU, 16 GB LPDDR5, and dual DLA cores — delivering 100 TOPS for visual-LiDAR fusion, navigation, and manipulation planning with room to grow.
BrainCo Revo 2 Tactile — Five Fingers That Feel
The BrainCo Revo 2 Tactile takes the five-finger anthropomorphic architecture of the Basic model and adds force-sensitive tactile sensors integrated into the fingertips and palm surfaces of each hand. These sensors deliver real-time pressure maps, contact location data, and slip detection across all five fingers — enabling the hand to feel what it grasps, not just see it. On a mobile platform, this is transformative: the robot can detect when a five-finger grasp is unstable during transport, modulate grip force to avoid crushing fragile objects while navigating, use tactile feedback to complete grasps in visually occluded environments, and execute compliant interaction strategies that require simultaneous force and position control. The tactile stream runs at high frequency into the Orin NX 100 TOPS, where it fuses with wrist-camera RGB, head stereo depth, and LiDAR point clouds for the most complete multi-modal perception pipeline available on a mobile humanoid.
BrainCo Revo 2 Tactile five-finger hands with force-sensitive sensors and wrist RGB cameras
Tactile Anthropomorphic Grasping — The Best of Both Worlds
Ultimate E is the only R1-A5-D configuration to unite five-finger anthropomorphic form with integrated tactile sensing on a mobile base. The BrainCo Revo 2 Tactile hands can execute the full GRASP taxonomy — from precision pinches to power grips — while simultaneously sensing contact forces to prevent damage and adapt grip strength in real time. The robot can grasp a wine glass with a tripod-plus-two-fingers configuration, feel when the grip is secure, and transport it safely while navigating around obstacles. It can pick up a tool, sense the handle texture and weight distribution through the fingers, and use the tool with force-aware control. The wrist RGB cameras provide visual verification of finger placement, while the tactile sensors report what the fingers cannot see. Combined with the head stereo camera for scene understanding and MID360 LiDAR for safe navigation, Ultimate E closes the loop between human-like dexterity, touch, and autonomous mobility.
Tactile-Visual-LiDAR Fusion — Five Modality Perception
Ultimate E processes synchronized streams from five sensor modalities on the Orin NX 100 TOPS: tactile pressure maps from each BrainCo Revo 2 Tactile 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. The dual DLA cores run vision and tactile processing networks in parallel while the GPU handles multi-modal fusion and SLAM — no resource contention even under full load. With 16 GB RAM, the system can hold multiple models simultaneously: a tactile slip detector, a wrist-camera grasp verifier, a head-camera scene parser, a LiDAR localization network, and a tactile-visual-LiDAR fusion policy. This five-modality perception enables research in tactile anthropomorphic mobile manipulation, multi-modal sensorimotor learning, physical human-robot interaction, compliant grasping with force feedback while navigating, and embodied AI where human-like touch, vision, and spatial awareness converge.
Autonomous Mobile Base — Navigate, Then Manipulate
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.
Orin NX 100 TOPS — Flagship Compute for Entry-Level Manipulation
The built-in NVIDIA Jetson Orin NX delivers 100 TOPS of AI compute across an 8-core CPU, 16 GB LPDDR5, and dual NVDLA V2.0 accelerators. With BrainCo Revo 2 Tactile five-finger hands, wrist cameras, and multi-modal sensor fusion, this compute headroom enables the most advanced anthropomorphic mobile manipulation in the R1-A5-D lineup: run real-time SLAM with MID360 LiDAR, process stereo depth, wrist-camera, and high-frequency tactile streams simultaneously, deploy learned grasp policies with force feedback for five-finger configurations, and experiment with tactile sensorimotor learning — all at once. The dedicated DLA cores offload vision and tactile networks from the GPU, leaving GPU resources free for multi-modal fusion, hand-pose estimation, and compliant grasp planning. The 16 GB RAM provides space for large models that would not fit on an 8 GB module. No external GPU server, no cloud dependency — just power on and deploy.
Binocular Vision & Scene Perception
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-mounted RGB cameras, and tactile sensor arrays on each BrainCo Revo 2 Tactile hand, the R1-A5-D Ultimate E offers the most complete perception stack for tactile anthropomorphic mobile manipulation research — with the Orin NX 100 TOPS processing all five sensor modalities concurrently via DLA-accelerated networks.
Voice Collaboration & Natural Interaction
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.
Collapsible. Mobile. Ready to Deploy.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A5-D Ultimate E 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
Full-Stack Open Development
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 Ultimate E a clean slate for reinforcement learning, tactile anthropomorphic mobile manipulation research, embodied AI, and multi-modal sensorimotor learning. The built-in Orin NX 100 TOPS with dual DLA cores and 16 GB RAM handles tactile-visual-LiDAR fusion, five-finger grasp planning with force feedback, and compliant control locally — with compute headroom for larger models and multi-robot coordination without hardware limits.
Upgrade Path — Grow With Your Research
Ultimate E is the entry point with flagship compute already installed. The Orin NX 100 TOPS, 16 GB RAM, and dual DLA cores provide headroom to grow:
- End Effectors — Upgrade to BrainCo Revo 2 Tactile, LinkerBot O6, or tendon-driven hands as your manipulation needs evolve. The compute is already ready.
- Wrist Cameras — Add RGB cameras to the grippers for close-up visual feedback and grasp verification.
- Tactile Sensing — Integrate force-sensitive fingertips for contact-aware grasping.
- Large Vision-Language Models — Run VLA policies and multi-modal foundation models locally without quantization.
Designed For
Tactile Anthropomorphic Mobile Manipulation
Force-controlled five-finger grasping, compliant manipulation of fragile objects, and slip-compensated transport while navigating with human-like hands.
Physical Human-Robot Interaction
Safe physical HRI with force-aware compliance, contact detection, and adaptive grip strength across five-finger configurations on a mobile platform.
Multi-Modal Sensorimotor Learning
RL and imitation learning combining tactile, visual, LiDAR, and proprioceptive feedback in high-dimensional action spaces with five-finger control.
Advanced University Research
Cutting-edge tactile anthropomorphic manipulation, multi-modal perception, neuroscience-inspired robotics, and AI integration on mobile humanoids.
Technical Specifications
| Model | Unitree R1-A5-D Ultimate E (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 | BrainCo Revo 2 Tactile 5-finger anthropomorphic hands with wrist RGB cameras (both arms, pre-installed) |
| Finger Configuration | 5 independently actuated fingers per hand (thumb + index + middle + ring + pinky) |
| Wrist Cameras | RGB camera integrated into each BrainCo Revo 2 Tactile hand 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 five-finger 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 NX 100 TOPS, 8-core CPU, 16 GB LPDDR5, 2× NVDLA V2.0 (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, CUDA & TensorRT support |
| Controllers | Standard dual-hand controllers included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree R1-A5-D Ultimate E Humanoid Robot (mobile base)
- BrainCo Revo 2 Tactile 5-finger anthropomorphic hands with wrist RGB cameras (pre-installed, both arms)
- NVIDIA Jetson Orin NX 100 TOPS compute module with 16 GB RAM & dual DLA cores (pre-installed)
- Removable chassis lithium-ion battery pack
- External power supply & AC cable
- MID360 LiDAR module (pre-installed in chassis)
- Binocular vision head module (pre-installed)
- 4-array microphone + dual speaker module (pre-installed)
- Standard dual-hand remote controllers
- Quick-start guide & safety manual
- Secondary development documentation access
R1-A5-D Configuration Guide
Every configuration shares the same R1-A5-D mobile base — the difference is the end effector and compute module. Choose the one that matches your research goals:
| Config | Hand | Compute | Features |
|---|---|---|---|
| Ultimate A | Dex1-1 V2 | Orin NX 100 TOPS, 16 GB, DLA | Entry-level parallel grippers, MID360 LiDAR, flagship compute |
| Ultimate B | Dex3-1 (RGB) | Orin NX 100 TOPS, 16 GB, DLA | 3-finger dexterous hand with wrist RGB camera |
| Ultimate C | Dex3-1 Tactile (RGB) | Orin NX 100 TOPS, 16 GB, DLA | 3-finger hand with tactile sensors + wrist RGB camera |
| Ultimate D | BrainCo Revo 2 Basic (RGB) | Orin NX 100 TOPS, 16 GB, DLA | 5-finger anthropomorphic hand with wrist RGB camera |
| Ultimate E | BrainCo Revo 2 Tactile (RGB) | Orin NX 100 TOPS, 16 GB, DLA | 5-finger hand with tactile sensors + wrist RGB camera |
| Ultimate F | LinkerBot O6 (RGB) | Orin NX 100 TOPS, 16 GB, DLA | 6-DOF dexterous hand with wrist RGB camera |
| Ultimate G | LinkerBot O6 Tactile (RGB) | Orin NX 100 TOPS, 16 GB, DLA | 6-DOF hand with tactile sensors + wrist RGB camera |
| Ultimate H | Tendon-driven dexterous hand (RGB) | Orin NX 100 TOPS, 16 GB, DLA | Advanced tendon-driven mechanism for research-grade biomimetic 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 robot — comply with local laws and regulations.
Description
Unitree Robotics — Ultimate Series
Unitree R1-A5-D Ultimate E
Mobile-Base Dual-Arm Humanoid Robot with BrainCo Revo 2 Tactile 5-Finger Hands & Wrist RGB Cameras. 16 DOF, Orin NX 100 TOPS, 16 GB RAM, dual DLA cores, MID360 LiDAR, stereo vision & full-stack open SDK. The ultimate anthropomorphic tactile mobile manipulation platform.
R1-A5-D Ultimate E — mobile-base humanoid with BrainCo Revo 2 Tactile five-finger hands, wrist RGB cameras, MID360 LiDAR & stereo vision
16
Total DOF
5+5
Arm DOF
60
Nm Torque
~2
kg Payload
100
TOPS AI
What's in This Configuration
The R1-A5-D Ultimate E adds integrated tactile sensing to the BrainCo Revo 2 five-finger anthropomorphic hands — combining force-sensitive fingertips and palm arrays with the human-like hand form factor, wrist RGB cameras, and the NVIDIA Jetson Orin NX 100 TOPS compute module. Each hand features five independently actuated fingers (thumb, index, middle, ring, pinky) with a thumb-opposable architecture that mirrors human hand kinematics, now augmented with real-time pressure mapping and contact detection. This transforms the BrainCo Revo 2 from a visually-guided anthropomorphic manipulator into a touch-aware human-like hand — enabling force-controlled grasping, slip detection, and compliant interaction with fragile objects while navigating. With 16 GB RAM and dual DLA cores, the Orin NX fuses tactile pressure maps, wrist-camera RGB, head stereo depth, and MID360 LiDAR point clouds in real time — the most complete multi-modal perception pipeline in the R1-A5-D lineup.
✓ R1-A5-D Mobile Base Body
Full upper-body humanoid on a wheeled autonomous chassis: dual 5-DOF arms, 1-DOF waist, 2-DOF head, 1-DOF pillar, 2-DOF base. 683×520×440 mm collapsed, ~30 kg with battery.
✓ BrainCo Revo 2 Tactile 5-Finger Hands
Five-finger anthropomorphic hands with force-sensitive fingertips and palm arrays for pressure mapping, contact detection, and slip prediction — combining human-like form factor with touch awareness on a mobile platform.
✓ Tactile Sensor Array
Force-sensitive fingertips and palm regions on each hand enabling pressure mapping, contact detection, and slip prediction for force-aware control in five-finger configurations.
✓ Wrist RGB Cameras
Dedicated RGB cameras mounted on each wrist for close-up visual feedback, pose estimation, and grasp verification during navigation and manipulation.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Orin NX 100 TOPS
Built-in NVIDIA Jetson Orin NX with 8-core CPU, 16 GB LPDDR5, and dual DLA cores — delivering 100 TOPS for visual-LiDAR fusion, navigation, and manipulation planning with room to grow.
BrainCo Revo 2 Tactile — Five Fingers That Feel
The BrainCo Revo 2 Tactile takes the five-finger anthropomorphic architecture of the Basic model and adds force-sensitive tactile sensors integrated into the fingertips and palm surfaces of each hand. These sensors deliver real-time pressure maps, contact location data, and slip detection across all five fingers — enabling the hand to feel what it grasps, not just see it. On a mobile platform, this is transformative: the robot can detect when a five-finger grasp is unstable during transport, modulate grip force to avoid crushing fragile objects while navigating, use tactile feedback to complete grasps in visually occluded environments, and execute compliant interaction strategies that require simultaneous force and position control. The tactile stream runs at high frequency into the Orin NX 100 TOPS, where it fuses with wrist-camera RGB, head stereo depth, and LiDAR point clouds for the most complete multi-modal perception pipeline available on a mobile humanoid.
BrainCo Revo 2 Tactile five-finger hands with force-sensitive sensors and wrist RGB cameras
Tactile Anthropomorphic Grasping — The Best of Both Worlds
Ultimate E is the only R1-A5-D configuration to unite five-finger anthropomorphic form with integrated tactile sensing on a mobile base. The BrainCo Revo 2 Tactile hands can execute the full GRASP taxonomy — from precision pinches to power grips — while simultaneously sensing contact forces to prevent damage and adapt grip strength in real time. The robot can grasp a wine glass with a tripod-plus-two-fingers configuration, feel when the grip is secure, and transport it safely while navigating around obstacles. It can pick up a tool, sense the handle texture and weight distribution through the fingers, and use the tool with force-aware control. The wrist RGB cameras provide visual verification of finger placement, while the tactile sensors report what the fingers cannot see. Combined with the head stereo camera for scene understanding and MID360 LiDAR for safe navigation, Ultimate E closes the loop between human-like dexterity, touch, and autonomous mobility.
Tactile-Visual-LiDAR Fusion — Five Modality Perception
Ultimate E processes synchronized streams from five sensor modalities on the Orin NX 100 TOPS: tactile pressure maps from each BrainCo Revo 2 Tactile 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. The dual DLA cores run vision and tactile processing networks in parallel while the GPU handles multi-modal fusion and SLAM — no resource contention even under full load. With 16 GB RAM, the system can hold multiple models simultaneously: a tactile slip detector, a wrist-camera grasp verifier, a head-camera scene parser, a LiDAR localization network, and a tactile-visual-LiDAR fusion policy. This five-modality perception enables research in tactile anthropomorphic mobile manipulation, multi-modal sensorimotor learning, physical human-robot interaction, compliant grasping with force feedback while navigating, and embodied AI where human-like touch, vision, and spatial awareness converge.
Autonomous Mobile Base — Navigate, Then Manipulate
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.
Orin NX 100 TOPS — Flagship Compute for Entry-Level Manipulation
The built-in NVIDIA Jetson Orin NX delivers 100 TOPS of AI compute across an 8-core CPU, 16 GB LPDDR5, and dual NVDLA V2.0 accelerators. With BrainCo Revo 2 Tactile five-finger hands, wrist cameras, and multi-modal sensor fusion, this compute headroom enables the most advanced anthropomorphic mobile manipulation in the R1-A5-D lineup: run real-time SLAM with MID360 LiDAR, process stereo depth, wrist-camera, and high-frequency tactile streams simultaneously, deploy learned grasp policies with force feedback for five-finger configurations, and experiment with tactile sensorimotor learning — all at once. The dedicated DLA cores offload vision and tactile networks from the GPU, leaving GPU resources free for multi-modal fusion, hand-pose estimation, and compliant grasp planning. The 16 GB RAM provides space for large models that would not fit on an 8 GB module. No external GPU server, no cloud dependency — just power on and deploy.
Binocular Vision & Scene Perception
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-mounted RGB cameras, and tactile sensor arrays on each BrainCo Revo 2 Tactile hand, the R1-A5-D Ultimate E offers the most complete perception stack for tactile anthropomorphic mobile manipulation research — with the Orin NX 100 TOPS processing all five sensor modalities concurrently via DLA-accelerated networks.
Voice Collaboration & Natural Interaction
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.
Collapsible. Mobile. Ready to Deploy.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A5-D Ultimate E 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
Full-Stack Open Development
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 Ultimate E a clean slate for reinforcement learning, tactile anthropomorphic mobile manipulation research, embodied AI, and multi-modal sensorimotor learning. The built-in Orin NX 100 TOPS with dual DLA cores and 16 GB RAM handles tactile-visual-LiDAR fusion, five-finger grasp planning with force feedback, and compliant control locally — with compute headroom for larger models and multi-robot coordination without hardware limits.
Upgrade Path — Grow With Your Research
Ultimate E is the entry point with flagship compute already installed. The Orin NX 100 TOPS, 16 GB RAM, and dual DLA cores provide headroom to grow:
- End Effectors — Upgrade to BrainCo Revo 2 Tactile, LinkerBot O6, or tendon-driven hands as your manipulation needs evolve. The compute is already ready.
- Wrist Cameras — Add RGB cameras to the grippers for close-up visual feedback and grasp verification.
- Tactile Sensing — Integrate force-sensitive fingertips for contact-aware grasping.
- Large Vision-Language Models — Run VLA policies and multi-modal foundation models locally without quantization.
Designed For
Tactile Anthropomorphic Mobile Manipulation
Force-controlled five-finger grasping, compliant manipulation of fragile objects, and slip-compensated transport while navigating with human-like hands.
Physical Human-Robot Interaction
Safe physical HRI with force-aware compliance, contact detection, and adaptive grip strength across five-finger configurations on a mobile platform.
Multi-Modal Sensorimotor Learning
RL and imitation learning combining tactile, visual, LiDAR, and proprioceptive feedback in high-dimensional action spaces with five-finger control.
Advanced University Research
Cutting-edge tactile anthropomorphic manipulation, multi-modal perception, neuroscience-inspired robotics, and AI integration on mobile humanoids.
Technical Specifications
| Model | Unitree R1-A5-D Ultimate E (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 | BrainCo Revo 2 Tactile 5-finger anthropomorphic hands with wrist RGB cameras (both arms, pre-installed) |
| Finger Configuration | 5 independently actuated fingers per hand (thumb + index + middle + ring + pinky) |
| Wrist Cameras | RGB camera integrated into each BrainCo Revo 2 Tactile hand 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 five-finger 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 NX 100 TOPS, 8-core CPU, 16 GB LPDDR5, 2× NVDLA V2.0 (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, CUDA & TensorRT support |
| Controllers | Standard dual-hand controllers included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree R1-A5-D Ultimate E Humanoid Robot (mobile base)
- BrainCo Revo 2 Tactile 5-finger anthropomorphic hands with wrist RGB cameras (pre-installed, both arms)
- NVIDIA Jetson Orin NX 100 TOPS compute module with 16 GB RAM & dual DLA cores (pre-installed)
- Removable chassis lithium-ion battery pack
- External power supply & AC cable
- MID360 LiDAR module (pre-installed in chassis)
- Binocular vision head module (pre-installed)
- 4-array microphone + dual speaker module (pre-installed)
- Standard dual-hand remote controllers
- Quick-start guide & safety manual
- Secondary development documentation access
R1-A5-D Configuration Guide
Every configuration shares the same R1-A5-D mobile base — the difference is the end effector and compute module. Choose the one that matches your research goals:
| Config | Hand | Compute | Features |
|---|---|---|---|
| Ultimate A | Dex1-1 V2 | Orin NX 100 TOPS, 16 GB, DLA | Entry-level parallel grippers, MID360 LiDAR, flagship compute |
| Ultimate B | Dex3-1 (RGB) | Orin NX 100 TOPS, 16 GB, DLA | 3-finger dexterous hand with wrist RGB camera |
| Ultimate C | Dex3-1 Tactile (RGB) | Orin NX 100 TOPS, 16 GB, DLA | 3-finger hand with tactile sensors + wrist RGB camera |
| Ultimate D | BrainCo Revo 2 Basic (RGB) | Orin NX 100 TOPS, 16 GB, DLA | 5-finger anthropomorphic hand with wrist RGB camera |
| Ultimate E | BrainCo Revo 2 Tactile (RGB) | Orin NX 100 TOPS, 16 GB, DLA | 5-finger hand with tactile sensors + wrist RGB camera |
| Ultimate F | LinkerBot O6 (RGB) | Orin NX 100 TOPS, 16 GB, DLA | 6-DOF dexterous hand with wrist RGB camera |
| Ultimate G | LinkerBot O6 Tactile (RGB) | Orin NX 100 TOPS, 16 GB, DLA | 6-DOF hand with tactile sensors + wrist RGB camera |
| Ultimate H | Tendon-driven dexterous hand (RGB) | Orin NX 100 TOPS, 16 GB, DLA | Advanced tendon-driven mechanism for research-grade biomimetic 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 robot — comply with local laws and regulations.
Unitree
by
Unitree
Unitree R1-A5-D Smart Ultimate E Humanoid Robot Silver
SKU:
R1-A5-D-Smart-Ultimate-E
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- $23,190.00
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- $23,190.00
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Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Packaging note:
Equipment is being supplied in a manufacturer packaging
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Unitree R1-A5-D Smart Ultimate C Humanoid Robot Silver
Unitree
$23 890
Unitree R1-A7-D Smart C Humanoid Robot Silver
Unitree
$22 390
Unitree R1-A7-D Smart E Humanoid Robot Silver
Unitree
$21 690
Unitree R1-A7-D Ultimate B Humanoid Robot Silver
Unitree
$22 490
Unitree R1-A7-D Ultimate C Humanoid Robot Silver
Unitree
$24 490
Unitree R1-A7-D Ultimate E Humanoid Robot Silver
Unitree
$23 790