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Description
Unitree Robotics
Unitree R1-A7-D Smart A
Mobile-Base Dual-Arm Humanoid Robot with Dex1-1 V2 Parallel Grippers. 20 DOF, 7-DOF Arms, Orin Nano 40 TOPS, MID360 LiDAR, stereo vision & full-stack open SDK. The entry-level platform for advanced mobile manipulation research.
R1-A7-D Smart A — mobile-base humanoid with 7-DOF arms, Dex1-1 V2 parallel grippers, 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 A is the entry point into advanced mobile humanoid 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 Dex1-1 V2 parallel grippers for reliable pick-and-place. The built-in Orin Nano 40 TOPS handles onboard navigation, perception, and control without external compute.
✓ 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.
✓ Dex1-1 V2 Parallel Grippers
Reliable two-finger parallel grippers pre-installed on both arms for robust pick-and-place, part handling, and basic manipulation tasks.
✓ 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 onboard perception, navigation, and arm control.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Dual encoders per joint. Crossed-roller + double-row ball bearings.
Dex1-1 V2 — Reliable Parallel Gripping
The Dex1-1 V2 is a proven two-finger parallel gripper designed for consistency and durability. Its simple, robust mechanism delivers repeatable grasping force for a wide range of industrial and research objects — from small electronic components to medium-weight boxes. Pre-installed on both 7-DOF arms, it turns the R1-A7-D into a capable mobile manipulator for logistics, laboratory automation, and advanced robotics research.
Dex1-1 V2 parallel grippers — robust, repeatable, and ready for mobile pick-and-place on 7-DOF arms
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. Combined with the MID360 LiDAR, the R1-A7-D Smart A offers a complete perception stack for research in visual-LiDAR fusion, semantic navigation, and mobile manipulation. Optional wrist cameras can be added for close-up visual feedback.
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 Dex3-1, BrainCo Revo 2, LinkerBot O6, or tendon-driven hands for advanced dexterity.
- Compute Module — Swap to the 100 TOPS expansion for large-model inference and multi-robot coordination.
- Wrist Cameras — Add RGB cameras to each arm for close-up visual feedback and grasp verification.
- Tactile Sensing — Add force-sensitive fingertips and palm arrays for contact-rich manipulation research.
Designed For
Mobile Manipulation
Autonomous navigation combined with reliable pick-and-place for logistics, laboratory transport, and service robotics.
Navigation & SLAM
Research in visual-LiDAR SLAM, path planning, obstacle avoidance, and semantic mapping with a full humanoid upper body.
Education & Competitions
A complete, open mobile robot platform for university courses, robotics clubs, and student projects with 7-DOF arms.
Advanced Humanoid Research
Embodied AI, human-robot interaction, redundant arm control, and autonomous task planning on a mobile dual-arm platform.
Technical Specifications
| Model | Unitree R1-A7-D Smart A (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 | Dex1-1 V2 parallel grippers (both arms, pre-installed) |
| Wrist Cameras | Not included (optional) |
| 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 |
| 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 A Humanoid Robot (mobile base)
- Dex1-1 V2 parallel grippers (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 |
| 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 A
Mobile-Base Dual-Arm Humanoid Robot with Dex1-1 V2 Parallel Grippers. 20 DOF, 7-DOF Arms, Orin Nano 40 TOPS, MID360 LiDAR, stereo vision & full-stack open SDK. The entry-level platform for advanced mobile manipulation research.
R1-A7-D Smart A — mobile-base humanoid with 7-DOF arms, Dex1-1 V2 parallel grippers, 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 A is the entry point into advanced mobile humanoid 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 Dex1-1 V2 parallel grippers for reliable pick-and-place. The built-in Orin Nano 40 TOPS handles onboard navigation, perception, and control without external compute.
✓ 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.
✓ Dex1-1 V2 Parallel Grippers
Reliable two-finger parallel grippers pre-installed on both arms for robust pick-and-place, part handling, and basic manipulation tasks.
✓ 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 onboard perception, navigation, and arm control.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Dual encoders per joint. Crossed-roller + double-row ball bearings.
Dex1-1 V2 — Reliable Parallel Gripping
The Dex1-1 V2 is a proven two-finger parallel gripper designed for consistency and durability. Its simple, robust mechanism delivers repeatable grasping force for a wide range of industrial and research objects — from small electronic components to medium-weight boxes. Pre-installed on both 7-DOF arms, it turns the R1-A7-D into a capable mobile manipulator for logistics, laboratory automation, and advanced robotics research.
Dex1-1 V2 parallel grippers — robust, repeatable, and ready for mobile pick-and-place on 7-DOF arms
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. Combined with the MID360 LiDAR, the R1-A7-D Smart A offers a complete perception stack for research in visual-LiDAR fusion, semantic navigation, and mobile manipulation. Optional wrist cameras can be added for close-up visual feedback.
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 Dex3-1, BrainCo Revo 2, LinkerBot O6, or tendon-driven hands for advanced dexterity.
- Compute Module — Swap to the 100 TOPS expansion for large-model inference and multi-robot coordination.
- Wrist Cameras — Add RGB cameras to each arm for close-up visual feedback and grasp verification.
- Tactile Sensing — Add force-sensitive fingertips and palm arrays for contact-rich manipulation research.
Designed For
Mobile Manipulation
Autonomous navigation combined with reliable pick-and-place for logistics, laboratory transport, and service robotics.
Navigation & SLAM
Research in visual-LiDAR SLAM, path planning, obstacle avoidance, and semantic mapping with a full humanoid upper body.
Education & Competitions
A complete, open mobile robot platform for university courses, robotics clubs, and student projects with 7-DOF arms.
Advanced Humanoid Research
Embodied AI, human-robot interaction, redundant arm control, and autonomous task planning on a mobile dual-arm platform.
Technical Specifications
| Model | Unitree R1-A7-D Smart A (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 | Dex1-1 V2 parallel grippers (both arms, pre-installed) |
| Wrist Cameras | Not included (optional) |
| 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 |
| 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 A Humanoid Robot (mobile base)
- Dex1-1 V2 parallel grippers (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 |
| 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 A Humanoid Robot Silver
SKU:
R1-A7-D-Smart-A
- Regular price
- $11,290.00
- Sale price
- $11,290.00
- Regular price
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- Unit price
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Shipping calculated at checkout.
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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