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Unitree Robotics
Unitree R1-A5 Smart F
Fixed-Base Dual-Arm Humanoid Robot with LinkerBot Hand O6 6-DOF Dexterous Hands & Wrist RGB Cameras. 13 DOF, Orin Nano 40 TOPS, six degrees of freedom per hand, binocular vision & full-stack open SDK. For high-DOF dexterity research.
R1-A5 Smart F — fixed-base humanoid with LinkerBot Hand O6 6-DOF hands & wrist RGB cameras
13
Total DOF
5+5
Arm DOF
60
Nm Torque
~2
kg Payload
40
TOPS AI
What's in This Configuration
The R1-A5 Smart F introduces the LinkerBot Hand O6 — a six-degree-of-freedom dexterous hand that pushes beyond traditional finger-count metrics. With 6-DOF per hand, it delivers exceptional articulation for researchers exploring high-degree-of-freedom control, complex in-hand manipulation, and dexterous tool use. Combined with wrist RGB cameras and the built-in Orin Nano 40 TOPS, Smart F is the configuration of choice for labs focused on advanced kinematics and high-DOF policy learning.
✓ R1-A5 Fixed Base Body
Full upper-body humanoid: dual 5-DOF arms, 1-DOF waist, 2-DOF head. 700 × 357 × 190 mm, ~11 kg.
✓ LinkerBot Hand O6 6-DOF Hands
Six-degree-of-freedom dexterous hands on both arms with advanced joint architecture for high-DOF manipulation research.
✓ Wrist RGB Cameras
Dedicated RGB cameras mounted on each wrist for close-range visual feedback, pose estimation, and grasp verification.
✓ Orin Nano 40 TOPS
Onboard NVIDIA Jetson Orin Nano delivering 40 TOPS for real-time high-DOF control, perception, and AI inference.
✓ Binocular Vision Head
RGB 1280×720@30 Hz + Depth 544×448@10 Hz. 146°×124° FOV, 60 mm baseline. 8-core CPU + 10 TOPS NPU on-board.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, audio, vision, lighting. Dual encoders per joint.
LinkerBot Hand O6 — 6 Degrees of Freedom per Hand
The LinkerBot Hand O6 is a research-grade dexterous hand built around a six-degree-of-freedom joint architecture — exceeding the kinematic complexity of traditional anthropomorphic designs. Rather than replicating human finger count, the O6 optimizes for articulation density and control precision, enabling complex in-hand manipulation, multi-point contact strategies, and dexterous tool use that demands more independent joints than a standard five-finger hand provides. Each hand is paired with a wrist-mounted RGB camera for visual feedback during high-DOF control tasks.
LinkerBot Hand O6 six-degree-of-freedom dexterous hands with wrist RGB cameras
High-DOF Control — Beyond Finger Count
Smart F is designed for researchers who prioritize kinematic complexity over anthropomorphic fidelity. The 6-DOF LinkerBot Hand O6 enables control strategies that are impossible with simpler grippers: multi-point contact for stable grasping of irregular objects, in-hand reorientation using internal degrees of freedom, and dexterous tool manipulation where wrist and finger motions must be coordinated with high precision. Combined with wrist RGB cameras for visual servoing and the Orin Nano 40 TOPS for real-time policy execution, Smart F is the platform of choice for high-degree-of-freedom manipulation research.
Orin Nano 40 TOPS — AI Compute for High-DOF Policies
The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, handling high-dimensional control policies for 6-DOF hands, simultaneous streams from wrist RGB cameras and head binocular vision, and reinforcement learning algorithms with large action spaces. Run visual servoing, grasp planning networks, and high-DOF policy optimization locally with sub-millisecond latency. No external GPU server, no cloud dependency — just plug in power and start training.
Binocular Vision & Multi-Camera 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 wrist RGB cameras on each LinkerBot Hand O6, the R1-A5 Smart F offers a complete multi-camera perception stack for research in hand-eye coordination, active perception, and high-DOF manipulation.
Voice Collaboration & Natural Interaction
Four-array beamforming microphones and dual 3 W speakers enable clear voice capture and synthesis in noisy labs or classrooms. The open audio framework supports custom wake words, multilingual TTS, and integration with LLMs for conversational command-and-control.
Compact. Lightweight. Desk-Ready.
At just 700 × 357 × 190 mm and approximately 11 kg, the R1-A5 Smart F fits on a standard lab bench or classroom desk. The fixed-base design eliminates footprint concerns while delivering full upper-body humanoid kinematics with 6-DOF dexterity. Power via the included external supply — an optional upper-body Li-ion battery is available for ~1.5 hours of untethered operation.
Compact 11 kg fixed-base design — deploy on any desk or lab bench
Full-Stack Open Development
Unitree provides a mature, Linux-based robot development framework with open APIs for the underlying system, robotic arms, audio, lighting, and visual control. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the R1-A5 Smart F a clean slate for reinforcement learning, teleoperation research, embodied AI, and high-DOF manipulation studies. The built-in Orin Nano 40 TOPS handles model training and inference for 6-DOF hand control without external hardware.
Upgrade Path — Grow With Your Research
Start with Smart F and expand as your projects evolve. The R1-A5 platform is fully modular:
- End Effectors — Upgrade to LinkerBot Hand O6 Tactile for force-sensitive 6-DOF grasping, or BrainCo Revo 2 for anthropomorphic five-finger dexterity.
- Upper-Body Battery — Add the Li-ion battery pack for ~1.5 hours of cord-free operation.
- Mobile Base — Upgrade to the R1-A5-D platform with wheeled autonomous chassis, LiDAR, and expanded workspace.
Start with Smart F (fixed base) and upgrade to R1-A5-D (mobile base) as your research scales
Designed For
High-DOF Manipulation
Research in high-degree-of-freedom control, complex joint coordination, and articulated grasping strategies.
In-Hand Dexterity
Multi-point contact, internal reorientation, and dexterous tool use beyond standard finger architectures.
University Labs
Teaching advanced kinematics, high-DOF control theory, and AI integration on an open platform.
Embodied AI
RL and imitation learning for high-dimensional action spaces, visual servoing, and active perception.
Technical Specifications
| Model | Unitree R1-A5 Smart F (Fixed Base) |
| Dimensions | 700 × 357 × 190 mm |
| Weight | ~11 kg (with external PSU) |
| Total DOF | 13 (Arm 5×2, Waist 1, Head 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 6-DOF dexterous hands with wrist RGB cameras (both arms) |
| Hand DOF | 6 degrees of freedom per hand with advanced joint architecture |
| Vision | Binocular camera — RGB 1280×720@30 Hz, Depth 544×448@10 Hz, FOV 146°×124° |
| Wrist Cameras | RGB camera integrated into each LinkerBot Hand O6 for close-up visual feedback |
| 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 | External DC PSU included (optional Li-ion battery, ~1.5 h) |
| SDK & Interfaces | Linux-based framework, ROS 2, open APIs for arm/audio/vision/lighting |
| Controllers | Standard dual-hand controllers included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree R1-A5 Smart F Humanoid Robot (fixed base)
- LinkerBot Hand O6 6-DOF dexterous hands with wrist RGB cameras (pre-installed, both arms)
- NVIDIA Jetson Orin Nano 40 TOPS compute module (pre-installed)
- External power supply & AC cable
- 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 Configuration Guide
Every configuration shares the same R1-A5 body — 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 |
| 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 battery, compute module, 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
Unitree R1-A5 Smart F
Fixed-Base Dual-Arm Humanoid Robot with LinkerBot Hand O6 6-DOF Dexterous Hands & Wrist RGB Cameras. 13 DOF, Orin Nano 40 TOPS, six degrees of freedom per hand, binocular vision & full-stack open SDK. For high-DOF dexterity research.
R1-A5 Smart F — fixed-base humanoid with LinkerBot Hand O6 6-DOF hands & wrist RGB cameras
13
Total DOF
5+5
Arm DOF
60
Nm Torque
~2
kg Payload
40
TOPS AI
What's in This Configuration
The R1-A5 Smart F introduces the LinkerBot Hand O6 — a six-degree-of-freedom dexterous hand that pushes beyond traditional finger-count metrics. With 6-DOF per hand, it delivers exceptional articulation for researchers exploring high-degree-of-freedom control, complex in-hand manipulation, and dexterous tool use. Combined with wrist RGB cameras and the built-in Orin Nano 40 TOPS, Smart F is the configuration of choice for labs focused on advanced kinematics and high-DOF policy learning.
✓ R1-A5 Fixed Base Body
Full upper-body humanoid: dual 5-DOF arms, 1-DOF waist, 2-DOF head. 700 × 357 × 190 mm, ~11 kg.
✓ LinkerBot Hand O6 6-DOF Hands
Six-degree-of-freedom dexterous hands on both arms with advanced joint architecture for high-DOF manipulation research.
✓ Wrist RGB Cameras
Dedicated RGB cameras mounted on each wrist for close-range visual feedback, pose estimation, and grasp verification.
✓ Orin Nano 40 TOPS
Onboard NVIDIA Jetson Orin Nano delivering 40 TOPS for real-time high-DOF control, perception, and AI inference.
✓ Binocular Vision Head
RGB 1280×720@30 Hz + Depth 544×448@10 Hz. 146°×124° FOV, 60 mm baseline. 8-core CPU + 10 TOPS NPU on-board.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, audio, vision, lighting. Dual encoders per joint.
LinkerBot Hand O6 — 6 Degrees of Freedom per Hand
The LinkerBot Hand O6 is a research-grade dexterous hand built around a six-degree-of-freedom joint architecture — exceeding the kinematic complexity of traditional anthropomorphic designs. Rather than replicating human finger count, the O6 optimizes for articulation density and control precision, enabling complex in-hand manipulation, multi-point contact strategies, and dexterous tool use that demands more independent joints than a standard five-finger hand provides. Each hand is paired with a wrist-mounted RGB camera for visual feedback during high-DOF control tasks.
LinkerBot Hand O6 six-degree-of-freedom dexterous hands with wrist RGB cameras
High-DOF Control — Beyond Finger Count
Smart F is designed for researchers who prioritize kinematic complexity over anthropomorphic fidelity. The 6-DOF LinkerBot Hand O6 enables control strategies that are impossible with simpler grippers: multi-point contact for stable grasping of irregular objects, in-hand reorientation using internal degrees of freedom, and dexterous tool manipulation where wrist and finger motions must be coordinated with high precision. Combined with wrist RGB cameras for visual servoing and the Orin Nano 40 TOPS for real-time policy execution, Smart F is the platform of choice for high-degree-of-freedom manipulation research.
Orin Nano 40 TOPS — AI Compute for High-DOF Policies
The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, handling high-dimensional control policies for 6-DOF hands, simultaneous streams from wrist RGB cameras and head binocular vision, and reinforcement learning algorithms with large action spaces. Run visual servoing, grasp planning networks, and high-DOF policy optimization locally with sub-millisecond latency. No external GPU server, no cloud dependency — just plug in power and start training.
Binocular Vision & Multi-Camera 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 wrist RGB cameras on each LinkerBot Hand O6, the R1-A5 Smart F offers a complete multi-camera perception stack for research in hand-eye coordination, active perception, and high-DOF manipulation.
Voice Collaboration & Natural Interaction
Four-array beamforming microphones and dual 3 W speakers enable clear voice capture and synthesis in noisy labs or classrooms. The open audio framework supports custom wake words, multilingual TTS, and integration with LLMs for conversational command-and-control.
Compact. Lightweight. Desk-Ready.
At just 700 × 357 × 190 mm and approximately 11 kg, the R1-A5 Smart F fits on a standard lab bench or classroom desk. The fixed-base design eliminates footprint concerns while delivering full upper-body humanoid kinematics with 6-DOF dexterity. Power via the included external supply — an optional upper-body Li-ion battery is available for ~1.5 hours of untethered operation.
Compact 11 kg fixed-base design — deploy on any desk or lab bench
Full-Stack Open Development
Unitree provides a mature, Linux-based robot development framework with open APIs for the underlying system, robotic arms, audio, lighting, and visual control. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the R1-A5 Smart F a clean slate for reinforcement learning, teleoperation research, embodied AI, and high-DOF manipulation studies. The built-in Orin Nano 40 TOPS handles model training and inference for 6-DOF hand control without external hardware.
Upgrade Path — Grow With Your Research
Start with Smart F and expand as your projects evolve. The R1-A5 platform is fully modular:
- End Effectors — Upgrade to LinkerBot Hand O6 Tactile for force-sensitive 6-DOF grasping, or BrainCo Revo 2 for anthropomorphic five-finger dexterity.
- Upper-Body Battery — Add the Li-ion battery pack for ~1.5 hours of cord-free operation.
- Mobile Base — Upgrade to the R1-A5-D platform with wheeled autonomous chassis, LiDAR, and expanded workspace.
Start with Smart F (fixed base) and upgrade to R1-A5-D (mobile base) as your research scales
Designed For
High-DOF Manipulation
Research in high-degree-of-freedom control, complex joint coordination, and articulated grasping strategies.
In-Hand Dexterity
Multi-point contact, internal reorientation, and dexterous tool use beyond standard finger architectures.
University Labs
Teaching advanced kinematics, high-DOF control theory, and AI integration on an open platform.
Embodied AI
RL and imitation learning for high-dimensional action spaces, visual servoing, and active perception.
Technical Specifications
| Model | Unitree R1-A5 Smart F (Fixed Base) |
| Dimensions | 700 × 357 × 190 mm |
| Weight | ~11 kg (with external PSU) |
| Total DOF | 13 (Arm 5×2, Waist 1, Head 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 6-DOF dexterous hands with wrist RGB cameras (both arms) |
| Hand DOF | 6 degrees of freedom per hand with advanced joint architecture |
| Vision | Binocular camera — RGB 1280×720@30 Hz, Depth 544×448@10 Hz, FOV 146°×124° |
| Wrist Cameras | RGB camera integrated into each LinkerBot Hand O6 for close-up visual feedback |
| 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 | External DC PSU included (optional Li-ion battery, ~1.5 h) |
| SDK & Interfaces | Linux-based framework, ROS 2, open APIs for arm/audio/vision/lighting |
| Controllers | Standard dual-hand controllers included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree R1-A5 Smart F Humanoid Robot (fixed base)
- LinkerBot Hand O6 6-DOF dexterous hands with wrist RGB cameras (pre-installed, both arms)
- NVIDIA Jetson Orin Nano 40 TOPS compute module (pre-installed)
- External power supply & AC cable
- 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 Configuration Guide
Every configuration shares the same R1-A5 body — 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 |
| 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 battery, compute module, 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 Smart F Humanoid Robot
SKU:
R1-A5-Smart-F
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- $8,090.00
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- $8,090.00
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Shipping calculated at checkout.
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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