តម្លៃមធ្យមប្រចាំថ្ងៃ
ចំនួនទឹកប្រាក់ជារូបិយប័ណ្ណ USD
About
Description
Unitree Robotics
Unitree R1-A7-D Smart G
Mobile-Base Dual-Arm Humanoid Robot with LinkerBot O6 Tactile Six-DOF Dexterous Hands, Wrist RGB Cameras & Onboard Orin Nano 40 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. The ultimate high-DOF tactile manipulation platform.
R1-A7-D Smart G — mobile-base humanoid with 7-DOF arms, LinkerBot O6 Tactile six-DOF hands, wrist RGB cameras, MID360 LiDAR & stereo vision
20
Total DOF
7+7
Arm DOF
120
Nm Torque
~2
kg Payload
40
TOPS AI
What's in This Configuration
The R1-A7-D Smart G represents the ultimate high-DOF tactile manipulation platform. It pairs the R1-A7-D autonomous mobile base — complete with 7-DOF arms, MID360 LiDAR, stereo vision, and a removable chassis battery — with LinkerBot O6 Tactile six-DOF dexterous hands, force-sensitive fingertip and palm arrays, and wrist-mounted RGB cameras. With 6 active + 5 passive joints per hand, 130 N grip force, and full tactile feedback across all fingers, the Smart G fuses three sensing modalities on the Orin Nano 40 TOPS for the most advanced multi-modal high-DOF manipulation research.
✓ R1-A7-D Mobile Base Body
Full upper-body humanoid on a wheeled autonomous chassis: dual 7-DOF arms, 1-DOF waist, 2-DOF head, 1-DOF pillar, 2-DOF base. 683×520×440 mm collapsed, ~32 kg with battery.
✓ LinkerBot O6 Tactile Six-DOF Hands
Six-DOF dexterous hands with 6 active + 5 passive joints, worm-gear transmission, 130 N grip force, and force-sensitive tactile sensors pre-installed on both arms.
✓ Tactile Sensor Array
Force-sensitive fingertips and palm arrays pre-installed on both hands for slip detection, dynamic force modulation, and tactile exploration across all 11 joints.
✓ Wrist RGB Cameras
Wrist-mounted RGB cameras pre-installed on both arms for close-up visual feedback, grasp pose estimation, and visual servoing during 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 fusing vision, tactile, and high-DOF control streams from 11 joints per hand in real time.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, tactile, lighting. Full 11-joint hand control with tactile streaming. Dual encoders per joint.
LinkerBot O6 Tactile — Six-DOF Dexterity That Feels
The LinkerBot O6 Tactile combines the extreme kinematic complexity of the six-DOF dexterous hand with force-sensitive tactile sensing at every fingertip and across both palms. Each hand retains 6 active degrees of freedom plus 5 passive joints (11 joints total), driven by a worm-gear transmission with high-torque servo modules delivering 130 N of five-finger grip force. The added tactile arrays measure pressure distribution, detect slip, and enable dynamic force modulation across all active joints — transforming the O6 from a high-DOF position-controlled manipulator into a contact-aware system that can handle fragile objects, explore surfaces by touch, and execute force-sensitive manipulation with millisecond precision. At just 370 g per hand with ±0.2 mm repeat accuracy, the O6 Tactile makes the R1-A7-D the most capable mobile high-DOF tactile manipulation platform available.
LinkerBot O6 Tactile — force-sensitive 6-DOF dexterity with 130 N grip force for the ultimate mobile manipulation
Tactile High-DOF Grasping — Force-Aware Dexterity at Maximum Complexity
Smart G unites maximum kinematic complexity with tactile awareness. With 20 controllable degrees of freedom per arm-hand chain plus 5 passive adaptive joints, the robot can execute whole-arm manipulation strategies impossible for simpler hands — while the tactile arrays report exactly how hard and where every finger is touching. This fusion enables force-aware whole-arm manipulation: reorienting objects using arm null-space motion while maintaining precise grip force, detecting slip across any of the five fingers before it causes failure, and automatically modulating contact force for fragile or deformable items during complex multi-joint motions. The Orin Nano 40 TOPS processes tactile streams from all ten fingertips and both palms alongside visual data and 22 hand joints, running multi-modal high-DOF control policies entirely onboard.
Tactile sensor arrays on all fingertips and palms enable force-aware manipulation across 11 joints per hand
Tactile-Vision-Wrist Fusion — Three-Modal Perception for High-DOF Manipulation
Smart G fuses three complementary sensing modalities on the Orin Nano 40 TOPS: the head-mounted binocular camera provides global scene understanding, the wrist-mounted RGB cameras deliver local visual feedback of 11-joint finger-object interaction, and the tactile arrays report real-time contact forces from all five fingertips and both palms. This tactile-vision-wrist fusion creates an unprecedented multi-modal representation of high-DOF manipulation — enabling the robot to see an object, plan a complex multi-joint grasp, execute it with visual guidance, and refine grip force and joint angles based on tactile feedback across all 22 hand joints. All three streams are timestamp-synchronised and accessible through the open tactile API, supporting cutting-edge research in cross-modal perception, sensorimotor learning with high-DOF hands, and adaptive control at maximum kinematic complexity.
7-DOF Arms — Human-Like Redundancy & Reach
The R1-A7-D features seven degrees of freedom per arm — matching the kinematic complexity of the human upper limb. With a 555 mm reach (forearm + upper arm) and 120 Nm peak shoulder torque, these arms can reach around obstacles, maintain orientation while translating the end effector, and execute complex trajectories impossible for simpler 5- or 6-DOF manipulators. Crossed-roller and double-row ball bearings on every joint ensure smooth, precise motion with minimal backlash. Dual encoders per joint provide closed-loop accuracy for research-grade repeatability.
Autonomous Mobile Base — Navigate, Then Manipulate
The R1-A7-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. Please note: the upper body of this model does not accept a battery.
LiDAR + Stereo Vision — Complete Perception Stack
Smart A processes data from two complementary sensors: a MID360 360° LiDAR for metrically accurate mapping and long-range obstacle detection, and a binocular camera head (146°×124° FOV, 60 mm baseline) for colour vision, object recognition, and depth estimation. Fused on the Orin Nano 40 TOPS, this dual-modality perception stack supports research in visual-LiDAR SLAM, semantic navigation, and active perception for mobile manipulation.
Orin Nano 40 TOPS — Onboard AI for Navigation & Control
The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, running SLAM, path planning, object detection, and arm trajectory generation 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. Optional 40 or 100 TOPS compute expansion modules are available for future upgrades.
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. Wrist-mounted RGB cameras and tactile sensor arrays on both arms add close-up visual and force feedback for multi-modal high-DOF grasping. Combined with the MID360 LiDAR, the R1-A7-D Smart G offers a complete three-modal perception stack for research in tactile-vision fusion, semantic navigation, and contact-aware high-DOF mobile manipulation.
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-A7-D Smart A navigates standard doorways, elevators, and lab aisles. The telescopic pillar lowers the upper body for transport and raises it for manipulation. At approximately 32 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, hollow internal wiring, and low-inertia, high-speed inner-rotor permanent magnet synchronous motors make the R1-A7-D Smart A a clean slate for reinforcement learning, 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 A is the entry-level mobile configuration. Expand capability as your research evolves:
- End Effectors — Upgrade to tendon-driven hands for biomimetic dexterity or alternative high-DOF designs.
- Large VLM — Deploy vision-language models for natural-language task specification and scene understanding with high-DOF hands.
- Compute — Swap to the 100 TOPS expansion for large-model inference, multi-modal fusion, high-DOF trajectory optimisation, and multi-robot coordination.
Designed For
Tactile High-DOF Manipulation
Force-aware whole-arm manipulation with 20+ controllable DOF per chain, slip detection, and dynamic grip modulation across 11 joints per hand.
Multi-Modal Sensorimotor Learning
Cross-modal perception fusing vision, tactile, and proprioception from 22 hand joints for embodied AI and adaptive high-DOF control.
Physical Human-Robot Interaction
Safe contact-rich handover, tactile exploration with high-DOF fingers, and force-sensitive interaction in shared human-robot environments.
Advanced University Research
Cutting-edge research in tactile-high-DOF fusion, whole-arm manipulation with adaptive force, and mobile sensorimotor learning at maximum complexity.
Technical Specifications
| Model | Unitree R1-A7-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) | ~32 kg |
| Total DOF | 20 (Arm 7×2, Waist 1, Head 2, Pillar 1, Base 2) |
| Arm Reach | 555 mm (forearm + upper arm) |
| Peak Shoulder Torque | 120 Nm |
| Max Arm Payload | ~2 kg (posture-dependent) |
| End-Effector Precision | ±0.1 mm |
| End Effectors | LinkerBot O6 Tactile six-DOF dexterous hands (both arms, pre-installed) |
| Hand DOF | 6 active + 5 passive joints per hand (11 joints total) |
| Hand Actuation | Worm-gear transmission with high-torque servo modules |
| Hand Weight | ~370 g per hand |
| Hand Grip Force | 130 N max five-finger; 28 N thumb tip; 33 N four-finger tip |
| Hand Repeat Accuracy | ±0.2 mm |
| Wrist Cameras | RGB integrated (pre-installed, both wrists) |
| Tactile Sensing | Force-sensitive fingertips and palm arrays (pre-installed) |
| 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. |
| Joint Bearings | Crossed-roller + Double-row ball bearings |
| Joint Motor | Low-inertia, high-speed, inner-rotor permanent magnet synchronous motor |
| Joint Encoders | Dual + Single per joint |
| Cabling | Hollow + Internal routing |
| Cooling | Localized air cooling |
| Waist Motion | Y: ±150° |
| Head Motion | Y: ±115°, P: ±36° |
| SDK & Interfaces | Linux-based framework, ROS 2, open APIs for arm/base/audio/vision/tactile/lighting. Full 11-joint hand control with tactile streaming API. |
| Controllers | Standard dual-hand controllers included |
| Rear Port Power | Yes |
| Smart OTA | Supported |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree R1-A7-D Smart G Humanoid Robot (mobile base)
- LinkerBot O6 Tactile six-DOF dexterous hands (pre-installed, both arms)
- Tactile sensor arrays — fingertips and palm (pre-installed, both hands)
- Wrist RGB camera modules (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-A7-D Configuration Guide
Every configuration shares the same R1-A7-D mobile base with 7-DOF arms — 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, 7-DOF arms, 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, 7-DOF arms, 130 N grip |
| 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 wrist cameras, 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
Unitree R1-A7-D Smart G
Mobile-Base Dual-Arm Humanoid Robot with LinkerBot O6 Tactile Six-DOF Dexterous Hands, Wrist RGB Cameras & Onboard Orin Nano 40 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. The ultimate high-DOF tactile manipulation platform.
R1-A7-D Smart G — mobile-base humanoid with 7-DOF arms, LinkerBot O6 Tactile six-DOF hands, wrist RGB cameras, MID360 LiDAR & stereo vision
20
Total DOF
7+7
Arm DOF
120
Nm Torque
~2
kg Payload
40
TOPS AI
What's in This Configuration
The R1-A7-D Smart G represents the ultimate high-DOF tactile manipulation platform. It pairs the R1-A7-D autonomous mobile base — complete with 7-DOF arms, MID360 LiDAR, stereo vision, and a removable chassis battery — with LinkerBot O6 Tactile six-DOF dexterous hands, force-sensitive fingertip and palm arrays, and wrist-mounted RGB cameras. With 6 active + 5 passive joints per hand, 130 N grip force, and full tactile feedback across all fingers, the Smart G fuses three sensing modalities on the Orin Nano 40 TOPS for the most advanced multi-modal high-DOF manipulation research.
✓ R1-A7-D Mobile Base Body
Full upper-body humanoid on a wheeled autonomous chassis: dual 7-DOF arms, 1-DOF waist, 2-DOF head, 1-DOF pillar, 2-DOF base. 683×520×440 mm collapsed, ~32 kg with battery.
✓ LinkerBot O6 Tactile Six-DOF Hands
Six-DOF dexterous hands with 6 active + 5 passive joints, worm-gear transmission, 130 N grip force, and force-sensitive tactile sensors pre-installed on both arms.
✓ Tactile Sensor Array
Force-sensitive fingertips and palm arrays pre-installed on both hands for slip detection, dynamic force modulation, and tactile exploration across all 11 joints.
✓ Wrist RGB Cameras
Wrist-mounted RGB cameras pre-installed on both arms for close-up visual feedback, grasp pose estimation, and visual servoing during 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 fusing vision, tactile, and high-DOF control streams from 11 joints per hand in real time.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, tactile, lighting. Full 11-joint hand control with tactile streaming. Dual encoders per joint.
LinkerBot O6 Tactile — Six-DOF Dexterity That Feels
The LinkerBot O6 Tactile combines the extreme kinematic complexity of the six-DOF dexterous hand with force-sensitive tactile sensing at every fingertip and across both palms. Each hand retains 6 active degrees of freedom plus 5 passive joints (11 joints total), driven by a worm-gear transmission with high-torque servo modules delivering 130 N of five-finger grip force. The added tactile arrays measure pressure distribution, detect slip, and enable dynamic force modulation across all active joints — transforming the O6 from a high-DOF position-controlled manipulator into a contact-aware system that can handle fragile objects, explore surfaces by touch, and execute force-sensitive manipulation with millisecond precision. At just 370 g per hand with ±0.2 mm repeat accuracy, the O6 Tactile makes the R1-A7-D the most capable mobile high-DOF tactile manipulation platform available.
LinkerBot O6 Tactile — force-sensitive 6-DOF dexterity with 130 N grip force for the ultimate mobile manipulation
Tactile High-DOF Grasping — Force-Aware Dexterity at Maximum Complexity
Smart G unites maximum kinematic complexity with tactile awareness. With 20 controllable degrees of freedom per arm-hand chain plus 5 passive adaptive joints, the robot can execute whole-arm manipulation strategies impossible for simpler hands — while the tactile arrays report exactly how hard and where every finger is touching. This fusion enables force-aware whole-arm manipulation: reorienting objects using arm null-space motion while maintaining precise grip force, detecting slip across any of the five fingers before it causes failure, and automatically modulating contact force for fragile or deformable items during complex multi-joint motions. The Orin Nano 40 TOPS processes tactile streams from all ten fingertips and both palms alongside visual data and 22 hand joints, running multi-modal high-DOF control policies entirely onboard.
Tactile sensor arrays on all fingertips and palms enable force-aware manipulation across 11 joints per hand
Tactile-Vision-Wrist Fusion — Three-Modal Perception for High-DOF Manipulation
Smart G fuses three complementary sensing modalities on the Orin Nano 40 TOPS: the head-mounted binocular camera provides global scene understanding, the wrist-mounted RGB cameras deliver local visual feedback of 11-joint finger-object interaction, and the tactile arrays report real-time contact forces from all five fingertips and both palms. This tactile-vision-wrist fusion creates an unprecedented multi-modal representation of high-DOF manipulation — enabling the robot to see an object, plan a complex multi-joint grasp, execute it with visual guidance, and refine grip force and joint angles based on tactile feedback across all 22 hand joints. All three streams are timestamp-synchronised and accessible through the open tactile API, supporting cutting-edge research in cross-modal perception, sensorimotor learning with high-DOF hands, and adaptive control at maximum kinematic complexity.
7-DOF Arms — Human-Like Redundancy & Reach
The R1-A7-D features seven degrees of freedom per arm — matching the kinematic complexity of the human upper limb. With a 555 mm reach (forearm + upper arm) and 120 Nm peak shoulder torque, these arms can reach around obstacles, maintain orientation while translating the end effector, and execute complex trajectories impossible for simpler 5- or 6-DOF manipulators. Crossed-roller and double-row ball bearings on every joint ensure smooth, precise motion with minimal backlash. Dual encoders per joint provide closed-loop accuracy for research-grade repeatability.
Autonomous Mobile Base — Navigate, Then Manipulate
The R1-A7-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. Please note: the upper body of this model does not accept a battery.
LiDAR + Stereo Vision — Complete Perception Stack
Smart A processes data from two complementary sensors: a MID360 360° LiDAR for metrically accurate mapping and long-range obstacle detection, and a binocular camera head (146°×124° FOV, 60 mm baseline) for colour vision, object recognition, and depth estimation. Fused on the Orin Nano 40 TOPS, this dual-modality perception stack supports research in visual-LiDAR SLAM, semantic navigation, and active perception for mobile manipulation.
Orin Nano 40 TOPS — Onboard AI for Navigation & Control
The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, running SLAM, path planning, object detection, and arm trajectory generation 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. Optional 40 or 100 TOPS compute expansion modules are available for future upgrades.
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. Wrist-mounted RGB cameras and tactile sensor arrays on both arms add close-up visual and force feedback for multi-modal high-DOF grasping. Combined with the MID360 LiDAR, the R1-A7-D Smart G offers a complete three-modal perception stack for research in tactile-vision fusion, semantic navigation, and contact-aware high-DOF mobile manipulation.
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-A7-D Smart A navigates standard doorways, elevators, and lab aisles. The telescopic pillar lowers the upper body for transport and raises it for manipulation. At approximately 32 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, hollow internal wiring, and low-inertia, high-speed inner-rotor permanent magnet synchronous motors make the R1-A7-D Smart A a clean slate for reinforcement learning, 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 A is the entry-level mobile configuration. Expand capability as your research evolves:
- End Effectors — Upgrade to tendon-driven hands for biomimetic dexterity or alternative high-DOF designs.
- Large VLM — Deploy vision-language models for natural-language task specification and scene understanding with high-DOF hands.
- Compute — Swap to the 100 TOPS expansion for large-model inference, multi-modal fusion, high-DOF trajectory optimisation, and multi-robot coordination.
Designed For
Tactile High-DOF Manipulation
Force-aware whole-arm manipulation with 20+ controllable DOF per chain, slip detection, and dynamic grip modulation across 11 joints per hand.
Multi-Modal Sensorimotor Learning
Cross-modal perception fusing vision, tactile, and proprioception from 22 hand joints for embodied AI and adaptive high-DOF control.
Physical Human-Robot Interaction
Safe contact-rich handover, tactile exploration with high-DOF fingers, and force-sensitive interaction in shared human-robot environments.
Advanced University Research
Cutting-edge research in tactile-high-DOF fusion, whole-arm manipulation with adaptive force, and mobile sensorimotor learning at maximum complexity.
Technical Specifications
| Model | Unitree R1-A7-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) | ~32 kg |
| Total DOF | 20 (Arm 7×2, Waist 1, Head 2, Pillar 1, Base 2) |
| Arm Reach | 555 mm (forearm + upper arm) |
| Peak Shoulder Torque | 120 Nm |
| Max Arm Payload | ~2 kg (posture-dependent) |
| End-Effector Precision | ±0.1 mm |
| End Effectors | LinkerBot O6 Tactile six-DOF dexterous hands (both arms, pre-installed) |
| Hand DOF | 6 active + 5 passive joints per hand (11 joints total) |
| Hand Actuation | Worm-gear transmission with high-torque servo modules |
| Hand Weight | ~370 g per hand |
| Hand Grip Force | 130 N max five-finger; 28 N thumb tip; 33 N four-finger tip |
| Hand Repeat Accuracy | ±0.2 mm |
| Wrist Cameras | RGB integrated (pre-installed, both wrists) |
| Tactile Sensing | Force-sensitive fingertips and palm arrays (pre-installed) |
| 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. |
| Joint Bearings | Crossed-roller + Double-row ball bearings |
| Joint Motor | Low-inertia, high-speed, inner-rotor permanent magnet synchronous motor |
| Joint Encoders | Dual + Single per joint |
| Cabling | Hollow + Internal routing |
| Cooling | Localized air cooling |
| Waist Motion | Y: ±150° |
| Head Motion | Y: ±115°, P: ±36° |
| SDK & Interfaces | Linux-based framework, ROS 2, open APIs for arm/base/audio/vision/tactile/lighting. Full 11-joint hand control with tactile streaming API. |
| Controllers | Standard dual-hand controllers included |
| Rear Port Power | Yes |
| Smart OTA | Supported |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree R1-A7-D Smart G Humanoid Robot (mobile base)
- LinkerBot O6 Tactile six-DOF dexterous hands (pre-installed, both arms)
- Tactile sensor arrays — fingertips and palm (pre-installed, both hands)
- Wrist RGB camera modules (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-A7-D Configuration Guide
Every configuration shares the same R1-A7-D mobile base with 7-DOF arms — 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, 7-DOF arms, 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, 7-DOF arms, 130 N grip |
| 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 wrist cameras, 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-A7-D Smart G Humanoid Robot Silver
SKU:
R1-A7-D-Smart-G
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- $12,990.00
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- $12,990.00
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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
ប្រវត្តិតម្លៃ
ប្រវត្តិតម្លៃមធ្យម
មានចំណុចទិន្នន័យមួយក្នុងមួយថ្ងៃ គណនាមធ្យមតាមកាលបរិច្ឆេទសង្កេត។
$12,990
តម្លៃមធ្យមត្រូវបានគណនាតាមថ្ងៃ UTC ពីតម្លៃនៃការផ្តល់ជូនដែលបានកត់ត្រាទាំងអស់។
ប្រកាសពាក់ព័ន្ធ
Unitree R1-A5 Smart D Humanoid Robot
Unitree
$13,090
Unitree R1-A5-D Smart F Humanoid Robot
Unitree
$12,090
Unitree R1-A5-D Smart G Humanoid Robot
Unitree
$12,390
Unitree R1-A5-D Smart H Humanoid Robot Silver
Unitree
$11,990
Unitree R1-A5-D Smart Ultimate A Humanoid Robot Silver
Unitree
$12,790
Unitree R1-A5-D Smart Ultimate F Humanoid Robot Silver
Unitree
$14,190
Unitree R1-A5-D Smart Ultimate H Humanoid Robot Silver
Unitree
$14,090
Unitree R1-A7 Smart D Humanoid Robot Silver
Unitree
$13,690
Unitree R1-A7-D Smart F Humanoid Robot Silver
Unitree
$12,690
Unitree R1-A7-D Smart H Humanoid Robot Silver
Unitree
$12,590
Unitree R1-A7-D Ultimate A Humanoid Robot Silver
Unitree
$13,390
Unitree R1 EDU humanoider Roboter
Unitree
ចាប់ពី 13,200 €