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Description
Unitree Robotics
Unitree R1-A7-D Smart F
Mobile-Base Dual-Arm Humanoid Robot with LinkerBot O6 Six-DOF Dexterous Hands, Wrist RGB Cameras & Onboard Orin Nano 40 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. For advanced high-DOF manipulation research.
R1-A7-D Smart F — mobile-base humanoid with 7-DOF arms, LinkerBot O6 six-DOF dexterous 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 F pushes into high-DOF dexterous manipulation on a mobile 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 six-DOF dexterous hands and wrist-mounted RGB cameras. With 6 active DOF plus 5 passive joints per hand, worm-gear transmission, and 130 N grip force, the LinkerBot O6 delivers research-grade dexterity for precision and power in every joint. The built-in Orin Nano 40 TOPS handles vision, control, and navigation in real time.
✓ 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 Six-DOF Dexterous Hands
Six-DOF dexterous hands with 6 active + 5 passive joints, 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, 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.
✓ Stereo Vision Head
Binocular camera head with RGB and depth streaming for scene understanding, object detection, and visual servoing.
✓ Orin Nano 40 TOPS
Built-in NVIDIA Jetson Orin Nano delivering 40 TOPS for high-DOF arm-hand control, perception, and navigation in real time.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Full 11-joint hand control. Dual encoders per joint.
LinkerBot O6 — Six-DOF Dexterity for High-DOF Manipulation
The LinkerBot O6 is a six-DOF dexterous hand engineered for researchers who need maximum kinematic complexity without tactile sensing. Each hand features 6 active degrees of freedom plus 5 passive joints (11 joints total), driven by a worm-gear transmission with high-torque servo modules that deliver 130 N of five-finger grip force (28 N thumb tip, 33 N four-finger tip). At just 370 g per hand with ±0.2 mm repeat accuracy, the O6 achieves an exceptional power-to-weight ratio. The worm-gear design provides inherent backdrivability resistance and high mechanical advantage, making it ideal for precision assembly, tool use, and force-controlled manipulation. Pre-installed on both 7-DOF arms, the LinkerBot O6 creates a 20 controllable DOF per arm-hand chain — one of the most kinematically rich mobile manipulation platforms available.
LinkerBot O6 — 6-DOF dexterity with 130 N grip force on a mobile 7-DOF platform
High-DOF Grasping — Precision and Power in Every Joint
Smart F delivers 20 controllable degrees of freedom per arm-hand chain — 7 in the arm, 6 active in the hand, plus 5 passive joints that adapt to object geometry. This extreme kinematic redundancy enables whole-arm manipulation: using the arm to reposition the hand while fingers maintain contact, exploiting null-space motion to avoid obstacles, and executing complex regrasping sequences without releasing the object. The 130 N five-finger grip force handles heavy or slippery objects, while the ±0.2 mm repeat accuracy enables precision tasks like connector insertion, tool alignment, and delicate part handling. The worm-gear transmission ensures that high torque is delivered smoothly and predictably, with minimal backlash for research-grade repeatability.
20 controllable DOF per arm-hand chain — whole-arm manipulation with precision and power
Vision-Wrist Fusion — Two-Scale Perception for High-DOF Manipulation
Smart F processes visual data from two complementary viewpoints: the head-mounted binocular camera provides global scene understanding and object localisation, while the wrist-mounted RGB cameras offer local, hand-centric views for tracking 11 joints per hand and monitoring finger-object interaction. This vision-wrist fusion is essential for high-DOF manipulation: with 20 controllable joints per arm-hand chain, visual feedback becomes critical for verifying joint configurations, detecting contact states from appearance, and guiding complex multi-joint motions. Fused on the Orin Nano 40 TOPS, this dual-view architecture supports research in visual servoing for high-DOF hands, whole-arm trajectory optimisation, and dexterous manipulation with 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 on both arms add close-up visual feedback for tracking 11 joints per hand and monitoring high-DOF finger-object interaction. Combined with the MID360 LiDAR, the R1-A7-D Smart F offers a complete perception stack for research in visual-LiDAR fusion, semantic navigation, and 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.
- Tactile — Add force-sensitive fingertips and palm arrays to the LinkerBot O6 for contact-aware high-DOF manipulation (LinkerBot O6 Tactile).
- Compute Module — Swap to the 100 TOPS expansion for large-model inference, high-DOF trajectory optimisation, and multi-robot coordination.
- Large VLM — Deploy vision-language models for natural-language task specification and scene understanding with high-DOF hands.
Designed For
High-DOF Manipulation Research
Whole-arm manipulation, null-space motion, and complex regrasping with 20 controllable DOF per arm-hand chain on a mobile base.
Visual Dexterous Grasping
Closed-loop grasping with wrist camera feedback for 11-joint hands, visual servoing, and high-DOF trajectory optimisation.
In-Hand Manipulation
Precision assembly, tool use, connector insertion, and delicate part handling with ±0.2 mm accuracy and 130 N grip force.
Embodied AI & Bimanual Coordination
Dual-arm task planning with 40+ controllable DOF, reinforcement learning for high-DOF control, and sensorimotor skill acquisition.
Technical Specifications
| Model | Unitree R1-A7-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) | ~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 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 | 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 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/lighting. Full 11-joint hand control 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 F Humanoid Robot (mobile base)
- LinkerBot O6 six-DOF dexterous hands (pre-installed, both arms)
- 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, 7-DOF arms, 130 N grip |
| 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 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 F
Mobile-Base Dual-Arm Humanoid Robot with LinkerBot O6 Six-DOF Dexterous Hands, Wrist RGB Cameras & Onboard Orin Nano 40 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. For advanced high-DOF manipulation research.
R1-A7-D Smart F — mobile-base humanoid with 7-DOF arms, LinkerBot O6 six-DOF dexterous 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 F pushes into high-DOF dexterous manipulation on a mobile 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 six-DOF dexterous hands and wrist-mounted RGB cameras. With 6 active DOF plus 5 passive joints per hand, worm-gear transmission, and 130 N grip force, the LinkerBot O6 delivers research-grade dexterity for precision and power in every joint. The built-in Orin Nano 40 TOPS handles vision, control, and navigation in real time.
✓ 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 Six-DOF Dexterous Hands
Six-DOF dexterous hands with 6 active + 5 passive joints, 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, 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.
✓ Stereo Vision Head
Binocular camera head with RGB and depth streaming for scene understanding, object detection, and visual servoing.
✓ Orin Nano 40 TOPS
Built-in NVIDIA Jetson Orin Nano delivering 40 TOPS for high-DOF arm-hand control, perception, and navigation in real time.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Full 11-joint hand control. Dual encoders per joint.
LinkerBot O6 — Six-DOF Dexterity for High-DOF Manipulation
The LinkerBot O6 is a six-DOF dexterous hand engineered for researchers who need maximum kinematic complexity without tactile sensing. Each hand features 6 active degrees of freedom plus 5 passive joints (11 joints total), driven by a worm-gear transmission with high-torque servo modules that deliver 130 N of five-finger grip force (28 N thumb tip, 33 N four-finger tip). At just 370 g per hand with ±0.2 mm repeat accuracy, the O6 achieves an exceptional power-to-weight ratio. The worm-gear design provides inherent backdrivability resistance and high mechanical advantage, making it ideal for precision assembly, tool use, and force-controlled manipulation. Pre-installed on both 7-DOF arms, the LinkerBot O6 creates a 20 controllable DOF per arm-hand chain — one of the most kinematically rich mobile manipulation platforms available.
LinkerBot O6 — 6-DOF dexterity with 130 N grip force on a mobile 7-DOF platform
High-DOF Grasping — Precision and Power in Every Joint
Smart F delivers 20 controllable degrees of freedom per arm-hand chain — 7 in the arm, 6 active in the hand, plus 5 passive joints that adapt to object geometry. This extreme kinematic redundancy enables whole-arm manipulation: using the arm to reposition the hand while fingers maintain contact, exploiting null-space motion to avoid obstacles, and executing complex regrasping sequences without releasing the object. The 130 N five-finger grip force handles heavy or slippery objects, while the ±0.2 mm repeat accuracy enables precision tasks like connector insertion, tool alignment, and delicate part handling. The worm-gear transmission ensures that high torque is delivered smoothly and predictably, with minimal backlash for research-grade repeatability.
20 controllable DOF per arm-hand chain — whole-arm manipulation with precision and power
Vision-Wrist Fusion — Two-Scale Perception for High-DOF Manipulation
Smart F processes visual data from two complementary viewpoints: the head-mounted binocular camera provides global scene understanding and object localisation, while the wrist-mounted RGB cameras offer local, hand-centric views for tracking 11 joints per hand and monitoring finger-object interaction. This vision-wrist fusion is essential for high-DOF manipulation: with 20 controllable joints per arm-hand chain, visual feedback becomes critical for verifying joint configurations, detecting contact states from appearance, and guiding complex multi-joint motions. Fused on the Orin Nano 40 TOPS, this dual-view architecture supports research in visual servoing for high-DOF hands, whole-arm trajectory optimisation, and dexterous manipulation with 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 on both arms add close-up visual feedback for tracking 11 joints per hand and monitoring high-DOF finger-object interaction. Combined with the MID360 LiDAR, the R1-A7-D Smart F offers a complete perception stack for research in visual-LiDAR fusion, semantic navigation, and 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.
- Tactile — Add force-sensitive fingertips and palm arrays to the LinkerBot O6 for contact-aware high-DOF manipulation (LinkerBot O6 Tactile).
- Compute Module — Swap to the 100 TOPS expansion for large-model inference, high-DOF trajectory optimisation, and multi-robot coordination.
- Large VLM — Deploy vision-language models for natural-language task specification and scene understanding with high-DOF hands.
Designed For
High-DOF Manipulation Research
Whole-arm manipulation, null-space motion, and complex regrasping with 20 controllable DOF per arm-hand chain on a mobile base.
Visual Dexterous Grasping
Closed-loop grasping with wrist camera feedback for 11-joint hands, visual servoing, and high-DOF trajectory optimisation.
In-Hand Manipulation
Precision assembly, tool use, connector insertion, and delicate part handling with ±0.2 mm accuracy and 130 N grip force.
Embodied AI & Bimanual Coordination
Dual-arm task planning with 40+ controllable DOF, reinforcement learning for high-DOF control, and sensorimotor skill acquisition.
Technical Specifications
| Model | Unitree R1-A7-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) | ~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 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 | 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 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/lighting. Full 11-joint hand control 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 F Humanoid Robot (mobile base)
- LinkerBot O6 six-DOF dexterous hands (pre-installed, both arms)
- 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, 7-DOF arms, 130 N grip |
| 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 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 F Humanoid Robot Silver
SKU:
R1-A7-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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$12,590
Unitree R1-A7-D Ultimate A Humanoid Robot Silver
Unitree
$13,390
Unitree R1 EDU humanoider Roboter
Unitree
daripada 13,200 €
Unitree R1-A5-D Smart Serie
Unitree
daripada 12,061.28 €
Unitree R1-A5-D Flagship Serie
Unitree
daripada 13,753.70 €