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Unitree Robotics
Unitree R1-A5-D Smart F
Mobile-Base Dual-Arm Humanoid Robot with LinkerBot Hand O6 6-DOF Dexterous Hands & Wrist RGB Cameras. 16 DOF, Orin Nano 40 TOPS, MID360 LiDAR, stereo vision & full-stack open SDK. For high-DOF mobile dexterity research.
R1-A5-D Smart F — mobile-base humanoid with LinkerBot Hand O6 6-DOF hands, wrist RGB cameras, MID360 LiDAR & stereo vision
16
Total DOF
5+5
Arm DOF
60
Nm Torque
~2
kg Payload
40
TOPS AI
What's in This Configuration
The R1-A5-D Smart F introduces 6 degrees of freedom per hand to mobile manipulation. The LinkerBot Hand O6 features an advanced joint architecture that goes beyond finger count — enabling in-hand reorientation, complex multi-joint coordination, and high-dimensional control policies. Paired with wrist RGB cameras, the autonomous R1-A5-D mobile base, MID360 LiDAR, and stereo vision, this configuration is built for research in high-DOF dexterity, in-hand manipulation, and embodied AI on a navigating platform.
✓ 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.
✓ LinkerBot Hand O6 6-DOF Hands
Six-degree-of-freedom dexterous hands with advanced joint architecture pre-installed on both arms for high-DOF manipulation and in-hand reorientation.
✓ Wrist RGB Cameras
Dedicated RGB cameras mounted on each wrist for close-up visual feedback, pose estimation, and grasp verification during mobile manipulation.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Orin Nano 40 TOPS
Built-in NVIDIA Jetson Orin Nano delivering 40 TOPS for high-DOF hand control, navigation, perception, and wrist-camera processing.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Dual encoders per joint.
LinkerBot Hand O6 — 6 Degrees of Freedom per Hand
The LinkerBot Hand O6 is designed for researchers who need kinematic richness beyond finger count. With six degrees of freedom per hand, it features an advanced joint architecture that enables in-hand reorientation, complex multi-joint coordination, and high-dimensional control policies. The O6 opens research domains that are inaccessible to simpler grippers: manipulating objects within the hand, executing precision sequences with multiple simultaneous joint motions, and exploring high-DOF policy spaces for mobile manipulation. Pre-installed on both arms with wrist RGB cameras, it turns the R1-A5-D into a platform for cutting-edge dexterity research on the move.
LinkerBot Hand O6 six-degree-of-freedom hands with wrist RGB cameras — high-DOF dexterity on a mobile platform
High-DOF Control — Beyond Finger Count
Smart F is built for researchers pushing the boundaries of dexterous control. The 6-DOF joint architecture of the LinkerBot Hand O6 supports in-hand manipulation — rotating, translating, and reorienting objects without releasing them — as well as complex multi-point contact strategies that require simultaneous coordination of multiple joints. Combined with the mobile base, this enables research in high-DOF mobile manipulation: navigating to an object, grasping it with a 6-DOF hand, reorienting it in-hand while moving to the next station, and placing it with precision. The wrist RGB cameras provide visual feedback for closed-loop control of these high-dimensional actions.
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.
LiDAR + Stereo Vision + Wrist Cameras — Complete Perception Stack
Smart F processes data from four complementary sensors: a MID360 360° LiDAR for metrically accurate mapping, a binocular camera head for scene-level vision, and dedicated wrist RGB cameras on each arm for close-up feedback of 6-DOF hand configurations and object pose. Fused on the Orin Nano 40 TOPS, this multi-modality perception stack supports research in active perception for high-DOF mobile manipulation, visual servoing with complex hand kinematics, and affordance prediction for in-hand dexterity.
Orin Nano 40 TOPS — AI Compute for High-DOF Navigation & Control
The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, running SLAM, path planning, object detection, 6-DOF hand trajectory generation, and wrist-camera visual processing locally. No external GPU server, no cloud dependency — just power on and deploy. The module is pre-installed and thermally integrated with the chassis cooling system.
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 MID360 LiDAR and wrist RGB cameras on each LinkerBot Hand O6, the R1-A5-D Smart F offers a complete perception stack for research in high-DOF mobile manipulation, in-hand dexterity, and active perception.
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 Smart F 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, and visual control. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the R1-A5-D Smart F a clean slate for reinforcement learning, high-DOF mobile manipulation research, embodied AI, and autonomous navigation studies. The built-in Orin Nano 40 TOPS handles perception and planning locally without external hardware.
Upgrade Path — Grow With Your Research
Smart F is the first high-DOF mobile configuration. Expand capability as your research evolves:
- End Effectors — Upgrade to LinkerBot O6 Tactile for force-sensitive 6-DOF grasping, or to BrainCo Revo 2 / tendon-driven hands for anthropomorphic dexterity.
- Compute Module — Swap to the 100 TOPS expansion for large-model inference, high-DOF policy networks, and multi-robot coordination.
Designed For
High-DOF Mobile Manipulation
6-DOF hand control, in-hand reorientation, and complex multi-joint coordination while navigating between task locations.
In-Hand Dexterity
Manipulating objects within the hand, precision sequences with simultaneous joint motions, and high-dimensional grasp policies.
Embodied AI
RL and imitation learning in high-dimensional action spaces combining locomotion, perception, and 6-DOF manipulation.
Advanced Control Theory
High-DOF control, sensorimotor learning, and dexterous manipulation research on a mobile dual-arm platform.
Technical Specifications
| Model | Unitree R1-A5-D Smart F (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 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 for close-up visual feedback |
| 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/lighting |
| Controllers | Standard dual-hand controllers included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree R1-A5-D Smart F Humanoid Robot (mobile 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)
- 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. 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
Description
Unitree Robotics
Unitree R1-A5-D Smart F
Mobile-Base Dual-Arm Humanoid Robot with LinkerBot Hand O6 6-DOF Dexterous Hands & Wrist RGB Cameras. 16 DOF, Orin Nano 40 TOPS, MID360 LiDAR, stereo vision & full-stack open SDK. For high-DOF mobile dexterity research.
R1-A5-D Smart F — mobile-base humanoid with LinkerBot Hand O6 6-DOF hands, wrist RGB cameras, MID360 LiDAR & stereo vision
16
Total DOF
5+5
Arm DOF
60
Nm Torque
~2
kg Payload
40
TOPS AI
What's in This Configuration
The R1-A5-D Smart F introduces 6 degrees of freedom per hand to mobile manipulation. The LinkerBot Hand O6 features an advanced joint architecture that goes beyond finger count — enabling in-hand reorientation, complex multi-joint coordination, and high-dimensional control policies. Paired with wrist RGB cameras, the autonomous R1-A5-D mobile base, MID360 LiDAR, and stereo vision, this configuration is built for research in high-DOF dexterity, in-hand manipulation, and embodied AI on a navigating platform.
✓ 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.
✓ LinkerBot Hand O6 6-DOF Hands
Six-degree-of-freedom dexterous hands with advanced joint architecture pre-installed on both arms for high-DOF manipulation and in-hand reorientation.
✓ Wrist RGB Cameras
Dedicated RGB cameras mounted on each wrist for close-up visual feedback, pose estimation, and grasp verification during mobile manipulation.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Orin Nano 40 TOPS
Built-in NVIDIA Jetson Orin Nano delivering 40 TOPS for high-DOF hand control, navigation, perception, and wrist-camera processing.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Dual encoders per joint.
LinkerBot Hand O6 — 6 Degrees of Freedom per Hand
The LinkerBot Hand O6 is designed for researchers who need kinematic richness beyond finger count. With six degrees of freedom per hand, it features an advanced joint architecture that enables in-hand reorientation, complex multi-joint coordination, and high-dimensional control policies. The O6 opens research domains that are inaccessible to simpler grippers: manipulating objects within the hand, executing precision sequences with multiple simultaneous joint motions, and exploring high-DOF policy spaces for mobile manipulation. Pre-installed on both arms with wrist RGB cameras, it turns the R1-A5-D into a platform for cutting-edge dexterity research on the move.
LinkerBot Hand O6 six-degree-of-freedom hands with wrist RGB cameras — high-DOF dexterity on a mobile platform
High-DOF Control — Beyond Finger Count
Smart F is built for researchers pushing the boundaries of dexterous control. The 6-DOF joint architecture of the LinkerBot Hand O6 supports in-hand manipulation — rotating, translating, and reorienting objects without releasing them — as well as complex multi-point contact strategies that require simultaneous coordination of multiple joints. Combined with the mobile base, this enables research in high-DOF mobile manipulation: navigating to an object, grasping it with a 6-DOF hand, reorienting it in-hand while moving to the next station, and placing it with precision. The wrist RGB cameras provide visual feedback for closed-loop control of these high-dimensional actions.
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.
LiDAR + Stereo Vision + Wrist Cameras — Complete Perception Stack
Smart F processes data from four complementary sensors: a MID360 360° LiDAR for metrically accurate mapping, a binocular camera head for scene-level vision, and dedicated wrist RGB cameras on each arm for close-up feedback of 6-DOF hand configurations and object pose. Fused on the Orin Nano 40 TOPS, this multi-modality perception stack supports research in active perception for high-DOF mobile manipulation, visual servoing with complex hand kinematics, and affordance prediction for in-hand dexterity.
Orin Nano 40 TOPS — AI Compute for High-DOF Navigation & Control
The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, running SLAM, path planning, object detection, 6-DOF hand trajectory generation, and wrist-camera visual processing locally. No external GPU server, no cloud dependency — just power on and deploy. The module is pre-installed and thermally integrated with the chassis cooling system.
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 MID360 LiDAR and wrist RGB cameras on each LinkerBot Hand O6, the R1-A5-D Smart F offers a complete perception stack for research in high-DOF mobile manipulation, in-hand dexterity, and active perception.
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 Smart F 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, and visual control. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the R1-A5-D Smart F a clean slate for reinforcement learning, high-DOF mobile manipulation research, embodied AI, and autonomous navigation studies. The built-in Orin Nano 40 TOPS handles perception and planning locally without external hardware.
Upgrade Path — Grow With Your Research
Smart F is the first high-DOF mobile configuration. Expand capability as your research evolves:
- End Effectors — Upgrade to LinkerBot O6 Tactile for force-sensitive 6-DOF grasping, or to BrainCo Revo 2 / tendon-driven hands for anthropomorphic dexterity.
- Compute Module — Swap to the 100 TOPS expansion for large-model inference, high-DOF policy networks, and multi-robot coordination.
Designed For
High-DOF Mobile Manipulation
6-DOF hand control, in-hand reorientation, and complex multi-joint coordination while navigating between task locations.
In-Hand Dexterity
Manipulating objects within the hand, precision sequences with simultaneous joint motions, and high-dimensional grasp policies.
Embodied AI
RL and imitation learning in high-dimensional action spaces combining locomotion, perception, and 6-DOF manipulation.
Advanced Control Theory
High-DOF control, sensorimotor learning, and dexterous manipulation research on a mobile dual-arm platform.
Technical Specifications
| Model | Unitree R1-A5-D Smart F (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 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 for close-up visual feedback |
| 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/lighting |
| Controllers | Standard dual-hand controllers included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree R1-A5-D Smart F Humanoid Robot (mobile 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)
- 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. 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
Unitree
by
Unitree
Unitree R1-A5-D Smart F Humanoid Robot
SKU:
R1-A5-D-Smart-F
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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
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Equipment is being supplied in a manufacturer packaging
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