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Unitree Robotics
Unitree R1-A7-D Smart H
Mobile-Base Dual-Arm Humanoid Robot with Tendon-Driven Dexterous Hands, 7-DOF Arms & Onboard Orin Nano 40 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. The biomimetic dexterity platform for research-grade manipulation.
R1-A7-D Smart H — mobile-base humanoid with 7-DOF arms, tendon-driven dexterous hands, 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 H represents the biomimetic dexterity platform for research-grade manipulation. It pairs the R1-A7-D autonomous mobile base — complete with 7-DOF arms, MID360 LiDAR, stereo vision, and a removable chassis battery — with tendon-driven dexterous hands on both arms. These hands replicate the human hand's tendon-actuated architecture, delivering fluid, compliant motion and natural grasping behaviour through cable-driven transmission. With no wrist cameras or tactile sensors, the Smart H focuses purely on kinematic dexterity and biomimetic control, making it ideal for research in tendon-driven mechanisms, compliant manipulation, and human-like hand motion.
✓ 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.
✓ Tendon-Driven Dexterous Hands
Biomimetic tendon-driven dexterous hands pre-installed on both arms, replicating human-like cable-actuated finger motion with compliant, fluid grasping behaviour.
✓ 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 navigation, perception, and arm trajectory generation locally.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Full tendon-driven hand control. Dual encoders per joint.
Tendon-Driven Dexterous Hands — Biomimetic Cable-Actuated Dexterity
The tendon-driven dexterous hands on the Smart H replicate the human hand's biological actuation architecture: motors in the forearm pull cables (tendons) that route through the wrist and into each finger joint, mimicking the way human muscles and tendons control the hand. This cable-driven design delivers inherently compliant motion — the fingers yield gracefully to external forces, making the hand safe for contact-rich interaction and capable of adaptive grasping without force sensors. The distributed tendon routing enables independent control of each finger joint, supporting the full taxonomy of human grasps: power grips, precision pinches, tripod grasps, lateral holds, and in-hand manipulation. Unlike rigid gear-driven hands, tendon-driven mechanisms exhibit back-drivability and passive compliance, essential for research in safe human-robot interaction, variable stiffness control, and biomimetic manipulation.
Tendon-driven dexterous hands — biomimetic cable-actuated fingers for research-grade compliant manipulation
Biomimetic Grasping — Human-Like Compliance & Dexterity
Smart H unites 7-DOF arm redundancy with tendon-driven hand compliance for human-like manipulation. The cable-actuated fingers can modulate stiffness by co-contracting antagonistic tendon pairs — just like human muscles — enabling the robot to switch seamlessly between rigid precision holds and soft, enveloping power grasps. This variable stiffness behaviour is impossible to achieve with conventional gear-driven actuation and opens research frontiers in impedance control, grasp force modulation without force sensors, and safe physical interaction. The tendon routing also allows the fingers to passively adapt to object geometry: when contacting an irregular surface, the compliant joints deflect naturally, distributing contact forces evenly across the hand. Combined with the 555 mm arm reach and 120 Nm shoulder torque, the Smart H can execute whole-arm manipulation strategies that leverage both arm redundancy and hand compliance.
Compliant tendon-driven fingers adapt passively to object geometry for natural, human-like grasping
Stereo Vision Perception — Pure Visual Manipulation
Smart H relies on pure stereo vision for manipulation guidance. The head-mounted binocular camera provides global scene understanding, object recognition, and depth estimation, while the 7-DOF arm redundancy enables the robot to position the hands optimally within the visual field. Without wrist cameras or tactile sensors, the Smart H represents a minimal-sensing, maximum-dexterity configuration — ideal for research that isolates kinematic and dynamic control from multi-modal perception. The Orin Nano 40 TOPS processes stereo depth, visual servoing, and arm trajectory planning entirely onboard, demonstrating that advanced manipulation is achievable with vision alone when paired with sufficiently dexterous, compliant end effectors.
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 H 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 H offers a complete perception stack for research in visual servoing, semantic navigation, and vision-guided compliant manipulation with tendon-driven hands.
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 H 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 H a clean slate for reinforcement learning, tendon-driven hand control research, compliant manipulation, 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 H is the biomimetic dexterity configuration. Expand capability as your research evolves:
- End Effectors — Swap to LinkerBot O6 for high-DOF gear-driven dexterity, BrainCo Revo 2 for anthropomorphic grasping, or Dex3-1 for three-finger adaptive manipulation.
- Wrist Cameras — Add wrist-mounted RGB cameras for close-up visual feedback during tendon-driven grasping and visual servoing.
- Tactile Sensing — Integrate force-sensitive tactile arrays for contact-aware manipulation with compliant tendon-driven fingers.
- Large VLM — Deploy vision-language models for natural-language task specification and scene understanding with biomimetic hands.
- Compute — Swap to the 100 TOPS expansion for large-model inference, multi-modal fusion, tendon dynamics simulation, and multi-robot coordination.
Designed For
Tendon-Driven Mechanism Research
Study cable transmission dynamics, tendon routing optimisation, friction compensation, and antagonistic actuation in biomimetic hands.
Compliant Manipulation
Explore passive compliance, variable stiffness control, impedance modulation, and safe contact-rich interaction without force sensors.
Human-Robot Interaction
Safe handover, physical collaboration, and intuitive interaction leveraging the inherent compliance of tendon-driven fingers.
Embodied AI & Imitation Learning
Learn human-like grasping policies from demonstration, leveraging biomimetic hand morphology and compliant dynamics for natural motion.
Vision-Guided Manipulation
Research in visual servoing, grasp pose estimation, and stereo-guided compliant grasping with minimal sensor modality.
Advanced University Research
Cutting-edge research in biomimetic robotics, soft manipulation, tendon dynamics, and adaptive control with human-like end effectors.
Technical Specifications
| Model | Unitree R1-A7-D Smart H (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 | Tendon-driven dexterous hands (both arms, pre-installed) |
| Hand Actuation | Cable-driven tendon transmission with antagonistic routing |
| Hand Compliance | Passive compliance via elastic tendon coupling; variable stiffness via co-contraction |
| Wrist Cameras | Not included (optional) |
| Tactile Sensing | 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. Full tendon-driven 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 H Humanoid Robot (mobile base)
- Tendon-driven dexterous hands (pre-installed, both arms)
- NVIDIA Jetson Orin Nano 40 TOPS compute module (pre-installed)
- Removable chassis lithium-ion battery pack
- External power supply & AC cable
- MID360 LiDAR module (pre-installed in chassis)
- Binocular vision head module (pre-installed)
- 4-array microphone + dual speaker module (pre-installed)
- Standard dual-hand remote controllers
- Quick-start guide & safety manual
- Secondary development documentation access
R1-A7-D Configuration Guide
Every configuration shares the same R1-A7-D mobile base with 7-DOF arms — the difference is the end effector. Choose the one that matches your research goals:
| Config | Hand | Features |
|---|---|---|
| Smart A | Dex1-1 V2 | Entry-level parallel grippers, 7-DOF arms, Orin Nano 40 TOPS, MID360 LiDAR |
| Smart B | Dex3-1 (RGB) | 3-finger dexterous hand with wrist RGB camera |
| Smart C | Dex3-1 Tactile (RGB) | 3-finger hand with tactile sensors + wrist RGB camera |
| Smart D | BrainCo Revo 2 Basic (RGB) | 5-finger anthropomorphic hand with wrist RGB camera |
| Smart E | BrainCo Revo 2 Tactile (RGB) | 5-finger hand with tactile sensors + wrist RGB camera |
| Smart F | LinkerBot O6 (RGB) | 6-DOF dexterous hand with wrist RGB camera |
| Smart G | LinkerBot O6 Tactile (RGB) | 6-DOF hand with tactile sensors + wrist RGB camera, 7-DOF arms, 130 N grip |
| Smart H | Tendon-driven dexterous hand | Advanced tendon-driven mechanism for biomimetic dexterity, compliant manipulation, 7-DOF arms |
* 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 Smart H
Mobile-Base Dual-Arm Humanoid Robot with Tendon-Driven Dexterous Hands, 7-DOF Arms & Onboard Orin Nano 40 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. The biomimetic dexterity platform for research-grade manipulation.
R1-A7-D Smart H — mobile-base humanoid with 7-DOF arms, tendon-driven dexterous hands, 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 H represents the biomimetic dexterity platform for research-grade manipulation. It pairs the R1-A7-D autonomous mobile base — complete with 7-DOF arms, MID360 LiDAR, stereo vision, and a removable chassis battery — with tendon-driven dexterous hands on both arms. These hands replicate the human hand's tendon-actuated architecture, delivering fluid, compliant motion and natural grasping behaviour through cable-driven transmission. With no wrist cameras or tactile sensors, the Smart H focuses purely on kinematic dexterity and biomimetic control, making it ideal for research in tendon-driven mechanisms, compliant manipulation, and human-like hand motion.
✓ 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.
✓ Tendon-Driven Dexterous Hands
Biomimetic tendon-driven dexterous hands pre-installed on both arms, replicating human-like cable-actuated finger motion with compliant, fluid grasping behaviour.
✓ 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 navigation, perception, and arm trajectory generation locally.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Full tendon-driven hand control. Dual encoders per joint.
Tendon-Driven Dexterous Hands — Biomimetic Cable-Actuated Dexterity
The tendon-driven dexterous hands on the Smart H replicate the human hand's biological actuation architecture: motors in the forearm pull cables (tendons) that route through the wrist and into each finger joint, mimicking the way human muscles and tendons control the hand. This cable-driven design delivers inherently compliant motion — the fingers yield gracefully to external forces, making the hand safe for contact-rich interaction and capable of adaptive grasping without force sensors. The distributed tendon routing enables independent control of each finger joint, supporting the full taxonomy of human grasps: power grips, precision pinches, tripod grasps, lateral holds, and in-hand manipulation. Unlike rigid gear-driven hands, tendon-driven mechanisms exhibit back-drivability and passive compliance, essential for research in safe human-robot interaction, variable stiffness control, and biomimetic manipulation.
Tendon-driven dexterous hands — biomimetic cable-actuated fingers for research-grade compliant manipulation
Biomimetic Grasping — Human-Like Compliance & Dexterity
Smart H unites 7-DOF arm redundancy with tendon-driven hand compliance for human-like manipulation. The cable-actuated fingers can modulate stiffness by co-contracting antagonistic tendon pairs — just like human muscles — enabling the robot to switch seamlessly between rigid precision holds and soft, enveloping power grasps. This variable stiffness behaviour is impossible to achieve with conventional gear-driven actuation and opens research frontiers in impedance control, grasp force modulation without force sensors, and safe physical interaction. The tendon routing also allows the fingers to passively adapt to object geometry: when contacting an irregular surface, the compliant joints deflect naturally, distributing contact forces evenly across the hand. Combined with the 555 mm arm reach and 120 Nm shoulder torque, the Smart H can execute whole-arm manipulation strategies that leverage both arm redundancy and hand compliance.
Compliant tendon-driven fingers adapt passively to object geometry for natural, human-like grasping
Stereo Vision Perception — Pure Visual Manipulation
Smart H relies on pure stereo vision for manipulation guidance. The head-mounted binocular camera provides global scene understanding, object recognition, and depth estimation, while the 7-DOF arm redundancy enables the robot to position the hands optimally within the visual field. Without wrist cameras or tactile sensors, the Smart H represents a minimal-sensing, maximum-dexterity configuration — ideal for research that isolates kinematic and dynamic control from multi-modal perception. The Orin Nano 40 TOPS processes stereo depth, visual servoing, and arm trajectory planning entirely onboard, demonstrating that advanced manipulation is achievable with vision alone when paired with sufficiently dexterous, compliant end effectors.
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 H 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 H offers a complete perception stack for research in visual servoing, semantic navigation, and vision-guided compliant manipulation with tendon-driven hands.
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 H 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 H a clean slate for reinforcement learning, tendon-driven hand control research, compliant manipulation, 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 H is the biomimetic dexterity configuration. Expand capability as your research evolves:
- End Effectors — Swap to LinkerBot O6 for high-DOF gear-driven dexterity, BrainCo Revo 2 for anthropomorphic grasping, or Dex3-1 for three-finger adaptive manipulation.
- Wrist Cameras — Add wrist-mounted RGB cameras for close-up visual feedback during tendon-driven grasping and visual servoing.
- Tactile Sensing — Integrate force-sensitive tactile arrays for contact-aware manipulation with compliant tendon-driven fingers.
- Large VLM — Deploy vision-language models for natural-language task specification and scene understanding with biomimetic hands.
- Compute — Swap to the 100 TOPS expansion for large-model inference, multi-modal fusion, tendon dynamics simulation, and multi-robot coordination.
Designed For
Tendon-Driven Mechanism Research
Study cable transmission dynamics, tendon routing optimisation, friction compensation, and antagonistic actuation in biomimetic hands.
Compliant Manipulation
Explore passive compliance, variable stiffness control, impedance modulation, and safe contact-rich interaction without force sensors.
Human-Robot Interaction
Safe handover, physical collaboration, and intuitive interaction leveraging the inherent compliance of tendon-driven fingers.
Embodied AI & Imitation Learning
Learn human-like grasping policies from demonstration, leveraging biomimetic hand morphology and compliant dynamics for natural motion.
Vision-Guided Manipulation
Research in visual servoing, grasp pose estimation, and stereo-guided compliant grasping with minimal sensor modality.
Advanced University Research
Cutting-edge research in biomimetic robotics, soft manipulation, tendon dynamics, and adaptive control with human-like end effectors.
Technical Specifications
| Model | Unitree R1-A7-D Smart H (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 | Tendon-driven dexterous hands (both arms, pre-installed) |
| Hand Actuation | Cable-driven tendon transmission with antagonistic routing |
| Hand Compliance | Passive compliance via elastic tendon coupling; variable stiffness via co-contraction |
| Wrist Cameras | Not included (optional) |
| Tactile Sensing | 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. Full tendon-driven 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 H Humanoid Robot (mobile base)
- Tendon-driven dexterous hands (pre-installed, both arms)
- NVIDIA Jetson Orin Nano 40 TOPS compute module (pre-installed)
- Removable chassis lithium-ion battery pack
- External power supply & AC cable
- MID360 LiDAR module (pre-installed in chassis)
- Binocular vision head module (pre-installed)
- 4-array microphone + dual speaker module (pre-installed)
- Standard dual-hand remote controllers
- Quick-start guide & safety manual
- Secondary development documentation access
R1-A7-D Configuration Guide
Every configuration shares the same R1-A7-D mobile base with 7-DOF arms — the difference is the end effector. Choose the one that matches your research goals:
| Config | Hand | Features |
|---|---|---|
| Smart A | Dex1-1 V2 | Entry-level parallel grippers, 7-DOF arms, Orin Nano 40 TOPS, MID360 LiDAR |
| Smart B | Dex3-1 (RGB) | 3-finger dexterous hand with wrist RGB camera |
| Smart C | Dex3-1 Tactile (RGB) | 3-finger hand with tactile sensors + wrist RGB camera |
| Smart D | BrainCo Revo 2 Basic (RGB) | 5-finger anthropomorphic hand with wrist RGB camera |
| Smart E | BrainCo Revo 2 Tactile (RGB) | 5-finger hand with tactile sensors + wrist RGB camera |
| Smart F | LinkerBot O6 (RGB) | 6-DOF dexterous hand with wrist RGB camera |
| Smart G | LinkerBot O6 Tactile (RGB) | 6-DOF hand with tactile sensors + wrist RGB camera, 7-DOF arms, 130 N grip |
| Smart H | Tendon-driven dexterous hand | Advanced tendon-driven mechanism for biomimetic dexterity, compliant manipulation, 7-DOF arms |
* 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.
Unitree
by
Unitree
Unitree R1-A7-D Smart H Humanoid Robot Silver
SKU:
R1-A7-D-Smart-H
- Regular price
- $12,590.00
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- $12,590.00
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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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