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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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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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