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Description
Unitree Robotics
Unitree R1-A5-D Smart B
Mobile-Base Dual-Arm Humanoid Robot with Dex3-1 3-Finger Dexterous Hands & Wrist RGB Cameras. 16 DOF, Orin Nano 40 TOPS, MID360 LiDAR, stereo vision & full-stack open SDK. For advanced mobile manipulation research.
R1-A5-D Smart B — mobile-base humanoid with Dex3-1 3-finger dexterous hands, wrist RGB cameras, MID360 LiDAR & stereo vision
16
Total DOF
5+5
Arm DOF
60
Nm Torque
~2
kg Payload
40
TOPS AI
What's in This Configuration
The R1-A5-D Smart B upgrades the mobile manipulation experience with Dex3-1 3-finger dexterous hands and dedicated wrist RGB cameras on each arm. Combined with the autonomous mobile base — MID360 LiDAR, stereo vision, and removable chassis battery — this configuration enables research in visual servoing, dexterous mobile grasping, and active perception from the gripper's point of view.
✓ R1-A5-D Mobile Base Body
Full upper-body humanoid on a wheeled autonomous chassis: dual 5-DOF arms, 1-DOF waist, 2-DOF head, 1-DOF pillar, 2-DOF base. 683×520×440 mm collapsed, ~30 kg with battery.
✓ Dex3-1 3-Finger Dexterous Hands
Three-finger dexterous hands pre-installed on both arms for adaptive grasping, in-hand manipulation, and multi-finger contact strategies.
✓ Wrist RGB Cameras
Dedicated RGB cameras mounted on each wrist for close-up visual feedback, pose estimation, and grasp verification during mobile manipulation.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Orin Nano 40 TOPS
Built-in NVIDIA Jetson Orin Nano delivering 40 TOPS for onboard perception, navigation, arm control, and wrist-camera visual processing.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Dual encoders per joint.
Dex3-1 — Three-Finger Dexterity
The Dex3-1 is a three-finger dexterous hand designed for adaptive grasping and in-hand manipulation. Each finger operates independently, enabling power grasps, precision pinches, and tripod grips that are impossible with parallel grippers. The three-finger architecture strikes an optimal balance between dexterity and control complexity — making it ideal for research in mobile manipulation, visual servoing, and grasp planning on a moving platform.
Dex3-1 3-finger hands with wrist RGB cameras — adaptive grasping with close-up visual feedback
Wrist-Mounted RGB Cameras — See From the Gripper
Smart B adds dedicated RGB cameras to each wrist, providing a gripper-centric view of the workspace. These cameras enable visual servoing during approach and grasp, real-time pose estimation of target objects, and verification of finger placement — all while the mobile base navigates between manipulation stations. The wrist-camera stream fuses with head binocular vision and MID360 LiDAR on the Orin Nano 40 TOPS for a complete multi-view perception pipeline.
Autonomous Mobile Base — Navigate, Then Manipulate
The R1-A5-D chassis adds 3 degrees of freedom to the upper body: a telescopic pillar for height adjustment and a 2-DOF wheeled base for omnidirectional navigation. Combined with the MID360 LiDAR and stereo camera head, the robot builds real-time maps, plans paths, and avoids obstacles autonomously — then stops precisely to manipulate. The removable lithium-ion battery in the chassis delivers approximately 1.5 hours of untethered operation.
LiDAR + Stereo Vision + Wrist Cameras — Complete Perception Stack
Smart B processes data from four complementary sensors: a MID360 360° LiDAR for metrically accurate mapping, a binocular camera head for scene-level vision, and dedicated wrist RGB cameras on each arm for close-up grasp feedback. Fused on the Orin Nano 40 TOPS, this multi-modality perception stack supports research in active perception for mobile manipulation, visual servoing from the gripper, and affordance prediction across multiple viewpoints.
Orin Nano 40 TOPS — Onboard AI for Navigation, Vision & Control
The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, running SLAM, path planning, object detection, arm trajectory generation, and wrist-camera visual processing locally. No external GPU server, no cloud dependency — just power on and deploy. The module is pre-installed and thermally integrated with the chassis cooling system.
Binocular Vision & Multi-Camera Perception
A binocular camera head delivers a 146° × 124° field of view with a 60 mm stereo baseline for scene-level understanding. RGB streams at 1280×720@30 Hz and depth at 544×448@10 Hz. Combined with the MID360 LiDAR and wrist RGB cameras on each Dex3-1 hand, the R1-A5-D Smart B offers the most complete perception stack for research in multi-view mobile manipulation and active perception.
Voice Collaboration & Natural Interaction
Four-array beamforming microphones and dual 3 W speakers enable clear voice capture and synthesis in noisy labs, warehouses, or classrooms. The open audio framework supports custom wake words, multilingual TTS, and integration with LLMs for conversational command-and-control — even while the base is in motion.
Collapsible. Mobile. Ready to Deploy.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A5-D Smart B navigates standard doorways, elevators, and lab aisles. The telescopic pillar lowers the upper body for transport and raises it for manipulation. At approximately 30 kg with battery, it is a self-contained mobile research platform — no external compute rack, no tether cables during operation.
Collapsed (683 mm) and elevated (1323 mm) configurations for navigation and manipulation
Full-Stack Open Development
Unitree provides a mature, Linux-based robot development framework with open APIs for the underlying system, robotic arms, mobile base, audio, lighting, and visual control. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the R1-A5-D Smart B 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 B is the first dexterous mobile configuration. Expand capability as your research evolves:
- End Effectors — Upgrade to Dex3-1 Tactile, BrainCo Revo 2, LinkerBot O6, or tendon-driven hands for advanced dexterity and tactile feedback.
- Compute Module — Swap to the 100 TOPS expansion for large-model inference and multi-robot coordination.
Designed For
Visual Mobile Manipulation
Wrist-camera-guided grasping and visual servoing while navigating between manipulation stations.
Dexterous Grasping on the Move
Adaptive 3-finger grasp planning, in-hand manipulation, and multi-finger contact strategies on a mobile platform.
Active Perception Research
Multi-view sensor fusion combining head vision, wrist cameras, and LiDAR for embodied AI and affordance prediction.
Embodied AI & HRI
Autonomous task planning, human-robot interaction, and mobile service robotics research.
Technical Specifications
| Model | Unitree R1-A5-D Smart B (Mobile Base) |
| Dimensions (Collapsed) | 683 × 520 × 440 mm (H × W × D) |
| Dimensions (Elevated) | 1323 × 520 × 440 mm (H × W × D) |
| Weight (with Battery) | ~30 kg |
| Total DOF | 16 (Arm 5×2, Waist 1, Head 2, Pillar 1, Base 2) |
| Arm Reach | 420 mm (forearm + upper arm) |
| Peak Shoulder Torque | 60 Nm |
| Max Arm Payload | ~2 kg (posture-dependent) |
| End-Effector Precision | ±0.1 mm |
| End Effectors | Dex3-1 3-finger dexterous hands with wrist RGB cameras (both arms, pre-installed) |
| Wrist Cameras | RGB camera integrated into each Dex3-1 hand for close-up visual feedback |
| Vision | Binocular camera — RGB 1280×720@30 Hz, Depth 544×448@10 Hz, FOV 146°×124° |
| LiDAR | MID360 360° LiDAR (chassis-integrated) |
| Head Compute | 8-core high-performance CPU + 10 TOPS NPU |
| Body Compute | 8-core high-performance CPU |
| Onboard AI Compute | NVIDIA Jetson Orin Nano 40 TOPS (built-in) |
| Audio | 4-array microphone + dual 3 W speakers |
| Connectivity | Wi-Fi 6, Bluetooth 5.2, OTA updates |
| Power | Removable chassis Li-ion battery (~1.5 h) + external DC PSU. Upper body does not accept a battery. |
| SDK & Interfaces | Linux-based framework, ROS 2, open APIs for arm/base/audio/vision/lighting |
| Controllers | Standard dual-hand controllers included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree R1-A5-D Smart B Humanoid Robot (mobile base)
- Dex3-1 3-finger dexterous hands with wrist RGB cameras (pre-installed, both arms)
- NVIDIA Jetson Orin Nano 40 TOPS compute module (pre-installed)
- Removable chassis lithium-ion battery pack
- External power supply & AC cable
- MID360 LiDAR module (pre-installed in chassis)
- Binocular vision head module (pre-installed)
- 4-array microphone + dual speaker module (pre-installed)
- Standard dual-hand remote controllers
- Quick-start guide & safety manual
- Secondary development documentation access
R1-A5-D Configuration Guide
Every configuration shares the same R1-A5-D mobile base — the difference is the end effector. Choose the one that matches your research goals:
| Config | Hand | Features |
|---|---|---|
| Smart A | Dex1-1 V2 | Entry-level parallel grippers, Orin Nano 40 TOPS, MID360 LiDAR |
| Smart B | Dex3-1 (RGB) | 3-finger dexterous hand with wrist RGB camera |
| Smart C | Dex3-1 Tactile (RGB) | 3-finger hand with tactile sensors + wrist RGB camera |
| Smart D | BrainCo Revo 2 Basic (RGB) | 5-finger anthropomorphic hand with wrist RGB camera |
| Smart E | BrainCo Revo 2 Tactile (RGB) | 5-finger hand with tactile sensors + wrist RGB camera |
| Smart F | LinkerBot O6 (RGB) | 6-DOF dexterous hand with wrist RGB camera |
| Smart G | LinkerBot O6 Tactile (RGB) | 6-DOF hand with tactile sensors + wrist RGB camera |
| Smart H | Tendon-driven dexterous hand | Advanced tendon-driven mechanism for research-grade dexterity |
* Specifications are based on manufacturer data and may vary slightly by production batch. Optional compute modules and alternative end effectors sold separately.
Unitree® is a registered trademark of Unitree Robotics. Images are for reference; actual product appearance may differ.
Users must maintain a sufficient safety distance. This is a civilian robot — comply with local laws and regulations.
Description
Unitree Robotics
Unitree R1-A5-D Smart B
Mobile-Base Dual-Arm Humanoid Robot with Dex3-1 3-Finger Dexterous Hands & Wrist RGB Cameras. 16 DOF, Orin Nano 40 TOPS, MID360 LiDAR, stereo vision & full-stack open SDK. For advanced mobile manipulation research.
R1-A5-D Smart B — mobile-base humanoid with Dex3-1 3-finger dexterous hands, wrist RGB cameras, MID360 LiDAR & stereo vision
16
Total DOF
5+5
Arm DOF
60
Nm Torque
~2
kg Payload
40
TOPS AI
What's in This Configuration
The R1-A5-D Smart B upgrades the mobile manipulation experience with Dex3-1 3-finger dexterous hands and dedicated wrist RGB cameras on each arm. Combined with the autonomous mobile base — MID360 LiDAR, stereo vision, and removable chassis battery — this configuration enables research in visual servoing, dexterous mobile grasping, and active perception from the gripper's point of view.
✓ R1-A5-D Mobile Base Body
Full upper-body humanoid on a wheeled autonomous chassis: dual 5-DOF arms, 1-DOF waist, 2-DOF head, 1-DOF pillar, 2-DOF base. 683×520×440 mm collapsed, ~30 kg with battery.
✓ Dex3-1 3-Finger Dexterous Hands
Three-finger dexterous hands pre-installed on both arms for adaptive grasping, in-hand manipulation, and multi-finger contact strategies.
✓ Wrist RGB Cameras
Dedicated RGB cameras mounted on each wrist for close-up visual feedback, pose estimation, and grasp verification during mobile manipulation.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Orin Nano 40 TOPS
Built-in NVIDIA Jetson Orin Nano delivering 40 TOPS for onboard perception, navigation, arm control, and wrist-camera visual processing.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Dual encoders per joint.
Dex3-1 — Three-Finger Dexterity
The Dex3-1 is a three-finger dexterous hand designed for adaptive grasping and in-hand manipulation. Each finger operates independently, enabling power grasps, precision pinches, and tripod grips that are impossible with parallel grippers. The three-finger architecture strikes an optimal balance between dexterity and control complexity — making it ideal for research in mobile manipulation, visual servoing, and grasp planning on a moving platform.
Dex3-1 3-finger hands with wrist RGB cameras — adaptive grasping with close-up visual feedback
Wrist-Mounted RGB Cameras — See From the Gripper
Smart B adds dedicated RGB cameras to each wrist, providing a gripper-centric view of the workspace. These cameras enable visual servoing during approach and grasp, real-time pose estimation of target objects, and verification of finger placement — all while the mobile base navigates between manipulation stations. The wrist-camera stream fuses with head binocular vision and MID360 LiDAR on the Orin Nano 40 TOPS for a complete multi-view perception pipeline.
Autonomous Mobile Base — Navigate, Then Manipulate
The R1-A5-D chassis adds 3 degrees of freedom to the upper body: a telescopic pillar for height adjustment and a 2-DOF wheeled base for omnidirectional navigation. Combined with the MID360 LiDAR and stereo camera head, the robot builds real-time maps, plans paths, and avoids obstacles autonomously — then stops precisely to manipulate. The removable lithium-ion battery in the chassis delivers approximately 1.5 hours of untethered operation.
LiDAR + Stereo Vision + Wrist Cameras — Complete Perception Stack
Smart B processes data from four complementary sensors: a MID360 360° LiDAR for metrically accurate mapping, a binocular camera head for scene-level vision, and dedicated wrist RGB cameras on each arm for close-up grasp feedback. Fused on the Orin Nano 40 TOPS, this multi-modality perception stack supports research in active perception for mobile manipulation, visual servoing from the gripper, and affordance prediction across multiple viewpoints.
Orin Nano 40 TOPS — Onboard AI for Navigation, Vision & Control
The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, running SLAM, path planning, object detection, arm trajectory generation, and wrist-camera visual processing locally. No external GPU server, no cloud dependency — just power on and deploy. The module is pre-installed and thermally integrated with the chassis cooling system.
Binocular Vision & Multi-Camera Perception
A binocular camera head delivers a 146° × 124° field of view with a 60 mm stereo baseline for scene-level understanding. RGB streams at 1280×720@30 Hz and depth at 544×448@10 Hz. Combined with the MID360 LiDAR and wrist RGB cameras on each Dex3-1 hand, the R1-A5-D Smart B offers the most complete perception stack for research in multi-view mobile manipulation and active perception.
Voice Collaboration & Natural Interaction
Four-array beamforming microphones and dual 3 W speakers enable clear voice capture and synthesis in noisy labs, warehouses, or classrooms. The open audio framework supports custom wake words, multilingual TTS, and integration with LLMs for conversational command-and-control — even while the base is in motion.
Collapsible. Mobile. Ready to Deploy.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A5-D Smart B navigates standard doorways, elevators, and lab aisles. The telescopic pillar lowers the upper body for transport and raises it for manipulation. At approximately 30 kg with battery, it is a self-contained mobile research platform — no external compute rack, no tether cables during operation.
Collapsed (683 mm) and elevated (1323 mm) configurations for navigation and manipulation
Full-Stack Open Development
Unitree provides a mature, Linux-based robot development framework with open APIs for the underlying system, robotic arms, mobile base, audio, lighting, and visual control. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the R1-A5-D Smart B 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 B is the first dexterous mobile configuration. Expand capability as your research evolves:
- End Effectors — Upgrade to Dex3-1 Tactile, BrainCo Revo 2, LinkerBot O6, or tendon-driven hands for advanced dexterity and tactile feedback.
- Compute Module — Swap to the 100 TOPS expansion for large-model inference and multi-robot coordination.
Designed For
Visual Mobile Manipulation
Wrist-camera-guided grasping and visual servoing while navigating between manipulation stations.
Dexterous Grasping on the Move
Adaptive 3-finger grasp planning, in-hand manipulation, and multi-finger contact strategies on a mobile platform.
Active Perception Research
Multi-view sensor fusion combining head vision, wrist cameras, and LiDAR for embodied AI and affordance prediction.
Embodied AI & HRI
Autonomous task planning, human-robot interaction, and mobile service robotics research.
Technical Specifications
| Model | Unitree R1-A5-D Smart B (Mobile Base) |
| Dimensions (Collapsed) | 683 × 520 × 440 mm (H × W × D) |
| Dimensions (Elevated) | 1323 × 520 × 440 mm (H × W × D) |
| Weight (with Battery) | ~30 kg |
| Total DOF | 16 (Arm 5×2, Waist 1, Head 2, Pillar 1, Base 2) |
| Arm Reach | 420 mm (forearm + upper arm) |
| Peak Shoulder Torque | 60 Nm |
| Max Arm Payload | ~2 kg (posture-dependent) |
| End-Effector Precision | ±0.1 mm |
| End Effectors | Dex3-1 3-finger dexterous hands with wrist RGB cameras (both arms, pre-installed) |
| Wrist Cameras | RGB camera integrated into each Dex3-1 hand for close-up visual feedback |
| Vision | Binocular camera — RGB 1280×720@30 Hz, Depth 544×448@10 Hz, FOV 146°×124° |
| LiDAR | MID360 360° LiDAR (chassis-integrated) |
| Head Compute | 8-core high-performance CPU + 10 TOPS NPU |
| Body Compute | 8-core high-performance CPU |
| Onboard AI Compute | NVIDIA Jetson Orin Nano 40 TOPS (built-in) |
| Audio | 4-array microphone + dual 3 W speakers |
| Connectivity | Wi-Fi 6, Bluetooth 5.2, OTA updates |
| Power | Removable chassis Li-ion battery (~1.5 h) + external DC PSU. Upper body does not accept a battery. |
| SDK & Interfaces | Linux-based framework, ROS 2, open APIs for arm/base/audio/vision/lighting |
| Controllers | Standard dual-hand controllers included |
| Warranty | 12 months on the entire unit |
What's in the Box
- Unitree R1-A5-D Smart B Humanoid Robot (mobile base)
- Dex3-1 3-finger dexterous hands with wrist RGB cameras (pre-installed, both arms)
- NVIDIA Jetson Orin Nano 40 TOPS compute module (pre-installed)
- Removable chassis lithium-ion battery pack
- External power supply & AC cable
- MID360 LiDAR module (pre-installed in chassis)
- Binocular vision head module (pre-installed)
- 4-array microphone + dual speaker module (pre-installed)
- Standard dual-hand remote controllers
- Quick-start guide & safety manual
- Secondary development documentation access
R1-A5-D Configuration Guide
Every configuration shares the same R1-A5-D mobile base — the difference is the end effector. Choose the one that matches your research goals:
| Config | Hand | Features |
|---|---|---|
| Smart A | Dex1-1 V2 | Entry-level parallel grippers, Orin Nano 40 TOPS, MID360 LiDAR |
| Smart B | Dex3-1 (RGB) | 3-finger dexterous hand with wrist RGB camera |
| Smart C | Dex3-1 Tactile (RGB) | 3-finger hand with tactile sensors + wrist RGB camera |
| Smart D | BrainCo Revo 2 Basic (RGB) | 5-finger anthropomorphic hand with wrist RGB camera |
| Smart E | BrainCo Revo 2 Tactile (RGB) | 5-finger hand with tactile sensors + wrist RGB camera |
| Smart F | LinkerBot O6 (RGB) | 6-DOF dexterous hand with wrist RGB camera |
| Smart G | LinkerBot O6 Tactile (RGB) | 6-DOF hand with tactile sensors + wrist RGB camera |
| Smart H | Tendon-driven dexterous hand | Advanced tendon-driven mechanism for research-grade dexterity |
* Specifications are based on manufacturer data and may vary slightly by production batch. Optional compute modules and alternative end effectors sold separately.
Unitree® is a registered trademark of Unitree Robotics. Images are for reference; actual product appearance may differ.
Users must maintain a sufficient safety distance. This is a civilian robot — comply with local laws and regulations.
Unitree
by
Unitree
Unitree R1-A5-D Smart B Humanoid Robot
SKU:
R1-A5-D-Smart-B
- Regular price
- $19,790.00
- Sale price
- $19,790.00
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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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