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High-performance dual-arm robot High-performance motors, reducers, encoders and various robot sensors More diverse interaction methods Configure visual dual-camera computing modules and voice interaction system Full-stack open secondary development A mature robot development framework that supports full-process secondary development at the underlying level Unitree Dual-Arm Humanoid Robot Ultra-fast deployment, multi-scenario application A dual-arm robot with higher degrees of freedom 15～31 Total degrees of freedom 5x2/7x2 Arm degrees of freedom 1 Waist degrees of freedom 2 Head degrees of freedom 1~7 x2 End degree of freedom A wider working space Yaw ± 150° / ± 35° Lumbar joint movement space (Model -D: ±35°) Yaw ± 115°, Pitch ± 36° Cervical joint movement space Supports two mounting types: Fixed base / Mobile base Compatible with two robotic arms: 5-DOF / 7-DOF (single arm) High-performance computing module, offering outstanding computing power Head processor: 8-core high-performance CPU Head module computing power: 10 TOPS Body processor: 8-core high-performance CPU Provide RGB and depth map interfaces for the binocular module Binocular FOV: Horizontal 146°, Vertical 124° Eye spacing: 60mm RGB：1280×720@30Hz / 544×448@10Hz Open program interfaces and end interfaces Open interfaces for the underlying system, robotic arm, audio, lighting, visual control, etc. The end can be quickly equipped with different actuators Application scenarios R1-A5 R1-A7 R1-A5-D R1-A7-D Specifications Voice collaboration 4-array microphone + dual speakers Visual collaboration Dual-eye computing module Maximum arm load capacity 2~4KG End-clamp accuracy ±0.1mm Model R1-A5 R1-A7 R1-A5-D R1-A7-D Dimensions 700x357x190mm 835x357x190mm Shrunk size: 683x520x440mmRaised size: 1600x520x440mm Shrunk size: 683x520x440mmRaised size: 1600x520x440mm Weight Approx. 11kg(with external power supply) Approx. 13kg(with external power supply) Approx. 30kg Approx. 32kg Degrees of Freedom (with Gripper) 15 19 18 22 DOF per Arm 5 7 5 7 Waist DOF 1 1 1 1 Head DOF 2 2 2 2 Chassis DOF / / 3 3 Joint Output Bearing Crossed Roller + Deep Groove Ball Crossed Roller + Deep Groove Ball Crossed Roller + Deep Groove Ball Crossed Roller + Deep Groove Ball Joint Motor Low-Inertia High-Speed Inner Rotor PMSM (Superior Responsiveness & Heat Dissipation) Low-Inertia High-Speed Inner Rotor PMSM (Superior Responsiveness & Heat Dissipation) Low-Inertia High-Speed Inner Rotor PMSM (Superior Responsiveness & Heat Dissipation) Low-Inertia High-Speed Inner Rotor PMSM (Superior Responsiveness & Heat Dissipation) Maximum torque of the shoulder 60Nm 60Nm 60Nm 60Nm Max Arm Payload 2~4kg 2~4kg 2~4kg 2~4kg End Effector Optional two-finger gripper / three-finger dexterous hand / five-finger dexterous hand Optional two-finger gripper / three-finger dexterous hand / five-finger dexterous hand Optional two-finger gripper / three-finger dexterous hand / five-finger dexterous hand Optional two-finger gripper / three-finger dexterous hand / five-finger dexterous hand Forearm + Upper Arm Length 420mm 555mm 420mm 555mm Joint Motion Range Waist: Yaw±150°Head: Yaw±115° Pitch±36° Waist: Yaw±150°Head: Yaw±115° Pitch±36° Waist: Yaw±35°Head: Yaw±115° Pitch±36° Waist: Yaw±35°Head: Yaw±115° Pitch±36° Wiring Hollow + Internal Wiring Hollow + Internal Wiring Hollow + Internal Wiring Hollow + Internal Wiring Joint Encoder Dual encoder (arm) Dual encoder (arm) Dual encoder (arm) Dual encoder (arm) Cooling System Local Air Cooling Local Air Cooling Local Air Cooling Local Air Cooling Power Supply External Power or Li-ion Battery External Power or Li-ion Battery External Power or Li-ion Battery External Power or Li-ion Battery Base Computing Power Body: 8-core high-performance CPUHead: 8-core high-performance CPU + 10 TOPS Body: 8-core high-performance CPUHead: 8-core high-performance CPU + 10 TOPS Body: 8-core high-performance CPUHead: 8-core high-performance CPU + 10 TOPS Body: 8-core high-performance CPUHead: 8-core high-performance CPU + 10 TOPS Microphone 4-Array 4-Array 4-Array 4-Array Speaker Dual Speakers (3W×2) Dual Speakers (3W×2) Dual Speakers (3W×2) Dual Speakers (3W×2) WiFi 6 & Bluetooth 5.2 Yes Yes Yes Yes Camera Module Binocular Camera + Optional Wrist Camera Binocular Camera + Optional Wrist Camera Chassis LiDAR + Binocular Camera + Optional Wrist Camera Chassis LiDAR + Binocular Camera + Optional Wrist Camera High-Computing Module Multiple brands and models available such as Orin(40-100TOPS), etc. Multiple brands and models available such as Orin(40-100TOPS), etc. Multiple brands and models available such as Orin(40-100TOPS), etc. Multiple brands and models available such as Orin(40-100TOPS), etc. Power Input Yes Yes Yes Yes Charger Included Included Included Included Battery Life(Battery-powered) Approx. 1.5h Approx. 1.5h Approx. 1.5h Approx. 1.5h Smart OTA Update Yes Yes Yes Yes Secondary Development Yes Yes Yes Yes High-performance dual-arm robot High-performance motors, reducers, encoders and various robot sensors More diverse interaction methods Configure visual dual-camera computing modules and voice interaction system Full-stack open secondary development A mature robot development framework that supports full-process secondary development at the underlying level Comes with: R1-A: 1x upper-body battery, 1x charger and 1x dual-hand remote controller R1-A-D: 1x chassis battery, 1x dual-hand remote controller (Note: Its upper body has no built-in battery and uses external power supply by default. An independent upper-body battery needs separate purchase if required.)
High-performance dual-arm robot High-performance motors, reducers, encoders and various robot sensors More diverse interaction methods Configure visual dual-camera computing modules and voice interaction system Full-stack open secondary development A mature robot development framework that supports full-process secondary development at the underlying level Unitree Dual-Arm Humanoid Robot Ultra-fast deployment, multi-scenario application A dual-arm robot with higher degrees of freedom 15～31 Total degrees of freedom 5x2/7x2 Arm degrees of freedom 1 Waist degrees of freedom 2 Head degrees of freedom 1~7 x2 End degree of freedom A wider working space Yaw ± 150° / ± 35° Lumbar joint movement space (Model -D: ±35°) Yaw ± 115°, Pitch ± 36° Cervical joint movement space Supports two mounting types: Fixed base / Mobile base Compatible with two robotic arms: 5-DOF / 7-DOF (single arm) High-performance computing module, offering outstanding computing power Head processor: 8-core high-performance CPU Head module computing power: 10 TOPS Body processor: 8-core high-performance CPU Provide RGB and depth map interfaces for the binocular module Binocular FOV: Horizontal 146°, Vertical 124° Eye spacing: 60mm RGB：1280×720@30Hz / 544×448@10Hz Open program interfaces and end interfaces Open interfaces for the underlying system, robotic arm, audio, lighting, visual control, etc. The end can be quickly equipped with different actuators Application scenarios R1-A5 R1-A7 R1-A5-D R1-A7-D Specifications Voice collaboration 4-array microphone + dual speakers Visual collaboration Dual-eye computing module Maximum arm load capacity 2~4KG End-clamp accuracy ±0.1mm Model R1-A5 R1-A7 R1-A5-D R1-A7-D Dimensions 700x357x190mm 835x357x190mm Shrunk size: 683x520x440mmRaised size: 1600x520x440mm Shrunk size: 683x520x440mmRaised size: 1600x520x440mm Weight Approx. 11kg(with external power supply) Approx. 13kg(with external power supply) Approx. 30kg Approx. 32kg Degrees of Freedom (with Gripper) 15 19 18 22 DOF per Arm 5 7 5 7 Waist DOF 1 1 1 1 Head DOF 2 2 2 2 Chassis DOF / / 3 3 Joint Output Bearing Crossed Roller + Deep Groove Ball Crossed Roller + Deep Groove Ball Crossed Roller + Deep Groove Ball Crossed Roller + Deep Groove Ball Joint Motor Low-Inertia High-Speed Inner Rotor PMSM (Superior Responsiveness & Heat Dissipation) Low-Inertia High-Speed Inner Rotor PMSM (Superior Responsiveness & Heat Dissipation) Low-Inertia High-Speed Inner Rotor PMSM (Superior Responsiveness & Heat Dissipation) Low-Inertia High-Speed Inner Rotor PMSM (Superior Responsiveness & Heat Dissipation) Maximum torque of the shoulder 60Nm 60Nm 60Nm 60Nm Max Arm Payload 2~4kg 2~4kg 2~4kg 2~4kg End Effector Optional two-finger gripper / three-finger dexterous hand / five-finger dexterous hand Optional two-finger gripper / three-finger dexterous hand / five-finger dexterous hand Optional two-finger gripper / three-finger dexterous hand / five-finger dexterous hand Optional two-finger gripper / three-finger dexterous hand / five-finger dexterous hand Forearm + Upper Arm Length 420mm 555mm 420mm 555mm Joint Motion Range Waist: Yaw±150°Head: Yaw±115° Pitch±36° Waist: Yaw±150°Head: Yaw±115° Pitch±36° Waist: Yaw±35°Head: Yaw±115° Pitch±36° Waist: Yaw±35°Head: Yaw±115° Pitch±36° Wiring Hollow + Internal Wiring Hollow + Internal Wiring Hollow + Internal Wiring Hollow + Internal Wiring Joint Encoder Dual encoder (arm) Dual encoder (arm) Dual encoder (arm) Dual encoder (arm) Cooling System Local Air Cooling Local Air Cooling Local Air Cooling Local Air Cooling Power Supply External Power or Li-ion Battery External Power or Li-ion Battery External Power or Li-ion Battery External Power or Li-ion Battery Base Computing Power Body: 8-core high-performance CPUHead: 8-core high-performance CPU + 10 TOPS Body: 8-core high-performance CPUHead: 8-core high-performance CPU + 10 TOPS Body: 8-core high-performance CPUHead: 8-core high-performance CPU + 10 TOPS Body: 8-core high-performance CPUHead: 8-core high-performance CPU + 10 TOPS Microphone 4-Array 4-Array 4-Array 4-Array Speaker Dual Speakers (3W×2) Dual Speakers (3W×2) Dual Speakers (3W×2) Dual Speakers (3W×2) WiFi 6 & Bluetooth 5.2 Yes Yes Yes Yes Camera Module Binocular Camera + Optional Wrist Camera Binocular Camera + Optional Wrist Camera Chassis LiDAR + Binocular Camera + Optional Wrist Camera Chassis LiDAR + Binocular Camera + Optional Wrist Camera High-Computing Module Multiple brands and models available such as Orin(40-100TOPS), etc. Multiple brands and models available such as Orin(40-100TOPS), etc. Multiple brands and models available such as Orin(40-100TOPS), etc. Multiple brands and models available such as Orin(40-100TOPS), etc. Power Input Yes Yes Yes Yes Charger Included Included Included Included Battery Life(Battery-powered) Approx. 1.5h Approx. 1.5h Approx. 1.5h Approx. 1.5h Smart OTA Update Yes Yes Yes Yes Secondary Development Yes Yes Yes Yes
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