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Description
Unitree Robotics
Unitree R1-A7-D Ultimate F
Mobile-Base Dual-Arm Humanoid Robot with LinkerBot O6 High-DOF Dexterous Hands, Wrist RGB Cameras, 7-DOF Arms & Onboard Orin NX 100 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. The high-DOF dexterity platform for advanced manipulation research.
R1-A7-D Ultimate F — mobile-base humanoid with 7-DOF arms, LinkerBot O6 high-DOF hands, wrist RGB cameras, MID360 LiDAR & Orin NX 100 TOPS
20
Total DOF
7+7
Arm DOF
120
Nm Torque
~2
kg Payload
100
TOPS AI
What's in This Configuration
The R1-A7-D Ultimate F is the high-DOF dexterity platform for advanced manipulation research. 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 high-DOF dexterous hands, wrist-mounted RGB cameras, and the powerful NVIDIA Jetson Orin NX 100 TOPS compute module. With six independently actuated degrees of freedom per hand, worm-gear transmission for precise position control, and 130 N grip force, the Ultimate F delivers research-grade dexterity for complex manipulation tasks — all powered by 2.5× the AI compute of the Smart series.
✓ 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 High-DOF Dexterous Hands
Six-degree-of-freedom dexterous hands with independently actuated fingers and thumb, worm-gear transmission, and 130 N grip force. Pre-installed on both arms.
✓ Wrist RGB Cameras
Wrist-mounted RGB cameras pre-installed on both arms for close-up visual feedback of high-DOF grasping and visual servoing.
✓ 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 delivering 100 TOPS for processing vision streams and high-DOF hand control policies in real time.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Full 6-DOF hand joint control API. Dual encoders per joint.
LinkerBot O6 — High-DOF Dexterity for Complex Manipulation
The LinkerBot O6 is a six-degree-of-freedom dexterous hand engineered for research-grade manipulation. Each hand features independently actuated fingers and thumb with a worm-gear transmission that delivers precise position control, zero-backlash holding, and an exceptional 130 N grip force. The high-DOF architecture enables complex in-hand manipulation — reorienting objects without releasing them, executing multi-finger precision grasps, and adapting finger configurations to irregular geometries. Unlike simpler parallel grippers or three-finger hands, the O6's six independent actuators unlock the full taxonomy of dexterous grasps: power grips, precision pinches, tripod grasps, lateral holds, and sophisticated in-hand manipulation sequences. Pre-installed on both 7-DOF arms, the LinkerBot O6 transforms the Ultimate F into a platform for cutting-edge research in high-DOF control, dexterous manipulation, and vision-guided precision assembly.
LinkerBot O6 — six-degree-of-freedom dexterous hands with 130 N grip force for advanced mobile manipulation
High-DOF Grasping — Precision, Power & In-Hand Manipulation
Ultimate F leverages the LinkerBot O6's six independent actuators to execute manipulation strategies impossible for lower-DOF end effectors. The worm-gear transmission provides self-locking torque holding — maintaining grip force without continuous power draw — while enabling sub-millimetre position repeatability for precision assembly tasks. The high-DOF architecture supports in-hand manipulation: reorienting a grasped object by coordinating finger motions without releasing contact, a capability essential for complex assembly, tool use, and dexterous exploration. With 130 N maximum grip force, the O6 securely handles heavy or slippery objects, while the independent finger control allows adaptive grasping of fragile or deformable items. Combined with the 7-DOF arm redundancy, the Ultimate F can maintain end-effector pose while reconfiguring the arm to avoid obstacles — a critical capability for cluttered-environment manipulation.
Six independent actuators per hand enable complex in-hand manipulation and adaptive multi-finger grasps
Vision-Wrist Fusion — Two-Scale Perception for High-DOF Control
Ultimate F fuses two complementary visual sensing modalities on the Orin NX 100 TOPS: the head-mounted binocular camera provides global scene understanding, object detection, and grasp pose estimation, while the wrist-mounted RGB cameras deliver close-up visual feedback of finger configurations, contact points, and grasp execution quality. This vision-wrist fusion creates a two-scale perception stack for high-DOF manipulation — enabling the robot to plan a six-finger grasp from scene-level vision, then refine finger positions and monitor contact quality through wrist-level close-ups. The 100 TOPS compute budget processes all three visual streams (head stereo + dual wrist RGB) concurrently, with headroom for running larger vision backbones for grasp quality prediction, hand pose estimation, and visual servoing loops. All streams are timestamp-synchronised and accessible through the open vision API, supporting research in visual-guided high-DOF control, active perception, and bimanual coordination.
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.
Orin NX 100 TOPS — 2.5× AI Performance for High-DOF Manipulation
The built-in NVIDIA Jetson Orin NX delivers 100 TOPS of AI compute — a 2.5× leap over the Smart series' 40 TOPS. For the Ultimate F, this extra headroom unlocks real-time processing of three simultaneous visual streams (head stereo + dual wrist RGB) alongside high-DOF hand control policies, larger vision backbones for grasp pose estimation and hand configuration prediction, onboard training of visual-motor policies using reinforcement or imitation learning with six-DOF hands, and concurrent vision-language model inference for natural-language task specification. The Orin NX also accelerates dense depth estimation, visual-LiDAR fusion for navigation, and multi-object tracking — all while maintaining low-latency control loops for twelve independent finger actuators across both hands. Pre-installed and thermally integrated with the chassis cooling system, the module runs entirely onboard with no external GPU server or cloud dependency.
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
Ultimate F 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 NX 100 TOPS, this dual-modality perception stack supports research in visual-LiDAR SLAM, semantic navigation, and active perception for mobile manipulation — with enough headroom to also process dual wrist camera streams and run high-DOF hand control policies concurrently.
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 on both arms add close-up visual feedback for monitoring high-DOF finger configurations and grasp execution. Combined with the MID360 LiDAR, the R1-A7-D Ultimate F offers a complete multi-camera perception stack for research in vision-guided high-DOF manipulation, active perception, and bimanual coordination — all processed on the 100 TOPS Orin NX.
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. The extra compute headroom of the Orin NX 100 TOPS allows running larger speech recognition and language models locally alongside high-DOF manipulation tasks.
Collapsible. Mobile. Ready to Deploy.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A7-D Ultimate F 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 Ultimate F a clean slate for reinforcement learning, high-DOF dexterous manipulation research, vision-wrist fusion, embodied AI, and autonomous navigation studies. The built-in Orin NX 100 TOPS handles perception, planning, multi-camera stream processing, and large vision model inference locally without external hardware, with enough headroom for the most demanding multi-task learning scenarios with six-DOF hands.
Upgrade Path — Grow With Your Research
Ultimate F is a high-performance high-DOF manipulation platform. Expand capability as your research evolves:
- Tactile Sensing — Add force-sensitive fingertip and palm arrays to transform the O6 into a contact-aware manipulator with slip detection and dynamic force modulation.
- End Effectors — Swap to Dex1-1 V2 for simple parallel gripping, Dex3-1 for three-finger adaptive manipulation, BrainCo Revo 2 for anthropomorphic dexterity, or tendon-driven hands for biomimetic compliance.
- Large VLM — Deploy vision-language models for natural-language task specification and scene understanding. The 100 TOPS Orin NX has the headroom to run the largest VLMs entirely onboard alongside high-DOF hand control.
Designed For
High-DOF Dexterous Manipulation
Research on six-DOF hand control, in-hand manipulation, precision assembly, and adaptive multi-finger grasping with 130 N grip force.
Vision-Guided Manipulation
Visual servoing, grasp pose estimation, and hand configuration prediction using scene-level and wrist-level cameras on 100 TOPS.
Bimanual Coordination
Dual-arm manipulation research with twelve independent finger actuators, coordinated grasping, and dual-hand object reorientation.
Embodied AI & Imitation Learning
Learning complex manipulation policies from human demonstrations with high-DOF hands, processed onboard with compute headroom for large models.
Active Perception
Mobile manipulation with active camera positioning, viewpoint planning for grasp verification, and multi-modal sensor fusion research.
Advanced University Research
Cutting-edge research in high-DOF control, dexterous robotics, and mobile sensorimotor intelligence with full open-source APIs.
Technical Specifications
| Model | Unitree R1-A7-D Ultimate F (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 high-DOF dexterous hands (both arms, pre-installed) |
| Hand DOF | 6 independently actuated degrees of freedom per hand |
| Hand Actuation | Worm-gear transmission with self-locking torque holding |
| Hand Grip Force | 130 N maximum |
| Hand Repeat Accuracy | ±0.05 mm |
| Wrist Cameras | RGB integrated (pre-installed, both wrists) |
| Tactile Sensing | Not included (optional: LinkerBot O6 Tactile) |
| 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 (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/lighting. Full 6-DOF hand joint control API. Dual encoders per joint. |
| 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 Ultimate F Humanoid Robot (mobile base)
- LinkerBot O6 high-DOF dexterous hands (pre-installed, both arms)
- Wrist RGB camera modules (pre-installed, both arms)
- NVIDIA Jetson Orin NX 100 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 compute module and end effector. Choose the one that matches your research goals:
| Config | Hand | Compute | Features |
|---|---|---|---|
| Ultimate A | Dex1-1 V2 | Orin NX 100 TOPS | Entry-level parallel grippers, 7-DOF arms, high-performance AI compute, MID360 LiDAR |
| Ultimate B | Dex3-1 (RGB) | Orin NX 100 TOPS | 3-finger dexterous hand with wrist RGB camera, high-performance visual manipulation |
| Ultimate C | Dex3-1 Tactile (RGB) | Orin NX 100 TOPS | 3-finger hand with tactile sensors + wrist RGB camera, three-modal perception |
| Ultimate D | BrainCo Revo 2 Basic (RGB) | Orin NX 100 TOPS | 5-finger anthropomorphic hand with wrist RGB camera, human-like dexterity |
| Ultimate E | BrainCo Revo 2 Tactile (RGB) | Orin NX 100 TOPS | 5-finger hand with tactile sensors + wrist RGB camera, ultimate anthropomorphic tactile platform |
| Ultimate F | LinkerBot O6 (RGB) | Orin NX 100 TOPS | 6-DOF dexterous hand with wrist RGB camera, 130 N grip, high-DOF manipulation platform |
| Ultimate G | LinkerBot O6 Tactile (RGB) | Orin NX 100 TOPS | 6-DOF hand with tactile sensors + wrist RGB camera, 130 N grip, tactile high-DOF platform |
| Ultimate H | Tendon-driven dexterous hand | Orin NX 100 TOPS | Advanced tendon-driven mechanism for biomimetic dexterity, compliant manipulation |
* Specifications are based on manufacturer data and may vary slightly by production batch. Optional wrist cameras, tactile sensors, 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 Ultimate F
Mobile-Base Dual-Arm Humanoid Robot with LinkerBot O6 High-DOF Dexterous Hands, Wrist RGB Cameras, 7-DOF Arms & Onboard Orin NX 100 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. The high-DOF dexterity platform for advanced manipulation research.
R1-A7-D Ultimate F — mobile-base humanoid with 7-DOF arms, LinkerBot O6 high-DOF hands, wrist RGB cameras, MID360 LiDAR & Orin NX 100 TOPS
20
Total DOF
7+7
Arm DOF
120
Nm Torque
~2
kg Payload
100
TOPS AI
What's in This Configuration
The R1-A7-D Ultimate F is the high-DOF dexterity platform for advanced manipulation research. 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 high-DOF dexterous hands, wrist-mounted RGB cameras, and the powerful NVIDIA Jetson Orin NX 100 TOPS compute module. With six independently actuated degrees of freedom per hand, worm-gear transmission for precise position control, and 130 N grip force, the Ultimate F delivers research-grade dexterity for complex manipulation tasks — all powered by 2.5× the AI compute of the Smart series.
✓ 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 High-DOF Dexterous Hands
Six-degree-of-freedom dexterous hands with independently actuated fingers and thumb, worm-gear transmission, and 130 N grip force. Pre-installed on both arms.
✓ Wrist RGB Cameras
Wrist-mounted RGB cameras pre-installed on both arms for close-up visual feedback of high-DOF grasping and visual servoing.
✓ 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 delivering 100 TOPS for processing vision streams and high-DOF hand control policies in real time.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Full 6-DOF hand joint control API. Dual encoders per joint.
LinkerBot O6 — High-DOF Dexterity for Complex Manipulation
The LinkerBot O6 is a six-degree-of-freedom dexterous hand engineered for research-grade manipulation. Each hand features independently actuated fingers and thumb with a worm-gear transmission that delivers precise position control, zero-backlash holding, and an exceptional 130 N grip force. The high-DOF architecture enables complex in-hand manipulation — reorienting objects without releasing them, executing multi-finger precision grasps, and adapting finger configurations to irregular geometries. Unlike simpler parallel grippers or three-finger hands, the O6's six independent actuators unlock the full taxonomy of dexterous grasps: power grips, precision pinches, tripod grasps, lateral holds, and sophisticated in-hand manipulation sequences. Pre-installed on both 7-DOF arms, the LinkerBot O6 transforms the Ultimate F into a platform for cutting-edge research in high-DOF control, dexterous manipulation, and vision-guided precision assembly.
LinkerBot O6 — six-degree-of-freedom dexterous hands with 130 N grip force for advanced mobile manipulation
High-DOF Grasping — Precision, Power & In-Hand Manipulation
Ultimate F leverages the LinkerBot O6's six independent actuators to execute manipulation strategies impossible for lower-DOF end effectors. The worm-gear transmission provides self-locking torque holding — maintaining grip force without continuous power draw — while enabling sub-millimetre position repeatability for precision assembly tasks. The high-DOF architecture supports in-hand manipulation: reorienting a grasped object by coordinating finger motions without releasing contact, a capability essential for complex assembly, tool use, and dexterous exploration. With 130 N maximum grip force, the O6 securely handles heavy or slippery objects, while the independent finger control allows adaptive grasping of fragile or deformable items. Combined with the 7-DOF arm redundancy, the Ultimate F can maintain end-effector pose while reconfiguring the arm to avoid obstacles — a critical capability for cluttered-environment manipulation.
Six independent actuators per hand enable complex in-hand manipulation and adaptive multi-finger grasps
Vision-Wrist Fusion — Two-Scale Perception for High-DOF Control
Ultimate F fuses two complementary visual sensing modalities on the Orin NX 100 TOPS: the head-mounted binocular camera provides global scene understanding, object detection, and grasp pose estimation, while the wrist-mounted RGB cameras deliver close-up visual feedback of finger configurations, contact points, and grasp execution quality. This vision-wrist fusion creates a two-scale perception stack for high-DOF manipulation — enabling the robot to plan a six-finger grasp from scene-level vision, then refine finger positions and monitor contact quality through wrist-level close-ups. The 100 TOPS compute budget processes all three visual streams (head stereo + dual wrist RGB) concurrently, with headroom for running larger vision backbones for grasp quality prediction, hand pose estimation, and visual servoing loops. All streams are timestamp-synchronised and accessible through the open vision API, supporting research in visual-guided high-DOF control, active perception, and bimanual coordination.
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.
Orin NX 100 TOPS — 2.5× AI Performance for High-DOF Manipulation
The built-in NVIDIA Jetson Orin NX delivers 100 TOPS of AI compute — a 2.5× leap over the Smart series' 40 TOPS. For the Ultimate F, this extra headroom unlocks real-time processing of three simultaneous visual streams (head stereo + dual wrist RGB) alongside high-DOF hand control policies, larger vision backbones for grasp pose estimation and hand configuration prediction, onboard training of visual-motor policies using reinforcement or imitation learning with six-DOF hands, and concurrent vision-language model inference for natural-language task specification. The Orin NX also accelerates dense depth estimation, visual-LiDAR fusion for navigation, and multi-object tracking — all while maintaining low-latency control loops for twelve independent finger actuators across both hands. Pre-installed and thermally integrated with the chassis cooling system, the module runs entirely onboard with no external GPU server or cloud dependency.
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
Ultimate F 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 NX 100 TOPS, this dual-modality perception stack supports research in visual-LiDAR SLAM, semantic navigation, and active perception for mobile manipulation — with enough headroom to also process dual wrist camera streams and run high-DOF hand control policies concurrently.
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 on both arms add close-up visual feedback for monitoring high-DOF finger configurations and grasp execution. Combined with the MID360 LiDAR, the R1-A7-D Ultimate F offers a complete multi-camera perception stack for research in vision-guided high-DOF manipulation, active perception, and bimanual coordination — all processed on the 100 TOPS Orin NX.
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. The extra compute headroom of the Orin NX 100 TOPS allows running larger speech recognition and language models locally alongside high-DOF manipulation tasks.
Collapsible. Mobile. Ready to Deploy.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A7-D Ultimate F 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 Ultimate F a clean slate for reinforcement learning, high-DOF dexterous manipulation research, vision-wrist fusion, embodied AI, and autonomous navigation studies. The built-in Orin NX 100 TOPS handles perception, planning, multi-camera stream processing, and large vision model inference locally without external hardware, with enough headroom for the most demanding multi-task learning scenarios with six-DOF hands.
Upgrade Path — Grow With Your Research
Ultimate F is a high-performance high-DOF manipulation platform. Expand capability as your research evolves:
- Tactile Sensing — Add force-sensitive fingertip and palm arrays to transform the O6 into a contact-aware manipulator with slip detection and dynamic force modulation.
- End Effectors — Swap to Dex1-1 V2 for simple parallel gripping, Dex3-1 for three-finger adaptive manipulation, BrainCo Revo 2 for anthropomorphic dexterity, or tendon-driven hands for biomimetic compliance.
- Large VLM — Deploy vision-language models for natural-language task specification and scene understanding. The 100 TOPS Orin NX has the headroom to run the largest VLMs entirely onboard alongside high-DOF hand control.
Designed For
High-DOF Dexterous Manipulation
Research on six-DOF hand control, in-hand manipulation, precision assembly, and adaptive multi-finger grasping with 130 N grip force.
Vision-Guided Manipulation
Visual servoing, grasp pose estimation, and hand configuration prediction using scene-level and wrist-level cameras on 100 TOPS.
Bimanual Coordination
Dual-arm manipulation research with twelve independent finger actuators, coordinated grasping, and dual-hand object reorientation.
Embodied AI & Imitation Learning
Learning complex manipulation policies from human demonstrations with high-DOF hands, processed onboard with compute headroom for large models.
Active Perception
Mobile manipulation with active camera positioning, viewpoint planning for grasp verification, and multi-modal sensor fusion research.
Advanced University Research
Cutting-edge research in high-DOF control, dexterous robotics, and mobile sensorimotor intelligence with full open-source APIs.
Technical Specifications
| Model | Unitree R1-A7-D Ultimate F (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 high-DOF dexterous hands (both arms, pre-installed) |
| Hand DOF | 6 independently actuated degrees of freedom per hand |
| Hand Actuation | Worm-gear transmission with self-locking torque holding |
| Hand Grip Force | 130 N maximum |
| Hand Repeat Accuracy | ±0.05 mm |
| Wrist Cameras | RGB integrated (pre-installed, both wrists) |
| Tactile Sensing | Not included (optional: LinkerBot O6 Tactile) |
| 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 (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/lighting. Full 6-DOF hand joint control API. Dual encoders per joint. |
| 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 Ultimate F Humanoid Robot (mobile base)
- LinkerBot O6 high-DOF dexterous hands (pre-installed, both arms)
- Wrist RGB camera modules (pre-installed, both arms)
- NVIDIA Jetson Orin NX 100 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 compute module and end effector. Choose the one that matches your research goals:
| Config | Hand | Compute | Features |
|---|---|---|---|
| Ultimate A | Dex1-1 V2 | Orin NX 100 TOPS | Entry-level parallel grippers, 7-DOF arms, high-performance AI compute, MID360 LiDAR |
| Ultimate B | Dex3-1 (RGB) | Orin NX 100 TOPS | 3-finger dexterous hand with wrist RGB camera, high-performance visual manipulation |
| Ultimate C | Dex3-1 Tactile (RGB) | Orin NX 100 TOPS | 3-finger hand with tactile sensors + wrist RGB camera, three-modal perception |
| Ultimate D | BrainCo Revo 2 Basic (RGB) | Orin NX 100 TOPS | 5-finger anthropomorphic hand with wrist RGB camera, human-like dexterity |
| Ultimate E | BrainCo Revo 2 Tactile (RGB) | Orin NX 100 TOPS | 5-finger hand with tactile sensors + wrist RGB camera, ultimate anthropomorphic tactile platform |
| Ultimate F | LinkerBot O6 (RGB) | Orin NX 100 TOPS | 6-DOF dexterous hand with wrist RGB camera, 130 N grip, high-DOF manipulation platform |
| Ultimate G | LinkerBot O6 Tactile (RGB) | Orin NX 100 TOPS | 6-DOF hand with tactile sensors + wrist RGB camera, 130 N grip, tactile high-DOF platform |
| Ultimate H | Tendon-driven dexterous hand | Orin NX 100 TOPS | Advanced tendon-driven mechanism for biomimetic dexterity, compliant manipulation |
* Specifications are based on manufacturer data and may vary slightly by production batch. Optional wrist cameras, tactile sensors, 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.
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Unitree
Unitree R1-A7-D Ultimate F Humanoid Robot Silver
SKU:
R1-A7-D-Ultimate-F
- Regular price
- $14,790.00
- Sale price
- $14,790.00
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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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