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Description
Unitree Robotics
Unitree R1-A7-D Ultimate D
Mobile-Base Dual-Arm Humanoid Robot with BrainCo Revo 2 Basic Five-Finger Anthropomorphic Hands, Wrist RGB Cameras, 7-DOF Arms & Onboard Orin NX 100 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. The anthropomorphic high-performance manipulation platform.
R1-A7-D Ultimate D — mobile-base humanoid with 7-DOF arms, BrainCo Revo 2 Basic five-finger hands, wrist RGB cameras, MID360 LiDAR & Orin NX 100 TOPS
20
Total DOF
7+7
Arm DOF
120
Nm Torque
~2
kg Payload
100
TOPS AI
What's in This Configuration
The R1-A7-D Ultimate D is the anthropomorphic high-performance manipulation platform. It pairs the R1-A7-D autonomous mobile base — complete with 7-DOF arms, MID360 LiDAR, stereo vision, and a removable chassis battery — with BrainCo Revo 2 Basic five-finger anthropomorphic hands, wrist-mounted RGB cameras, and the powerful NVIDIA Jetson Orin NX 100 TOPS compute module. With human-like joint architecture across all five independently actuated fingers and 2.5× the AI compute of the Smart series, the Ultimate D delivers unprecedented capability for anthropomorphic manipulation research — from visual imitation learning of human hand videos to complex multi-finger grasping and in-hand manipulation, all processed onboard.
✓ 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.
✓ BrainCo Revo 2 Basic Five-Finger Hands
Anthropomorphic five-finger dexterous hands with human-like joint architecture and independent finger actuation pre-installed on both arms.
✓ Wrist RGB Cameras
Wrist-mounted RGB cameras pre-installed on both arms for close-up visual feedback of five-finger grasping and visual servoing.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Orin NX 100 TOPS
Built-in NVIDIA Jetson Orin NX delivering 100 TOPS for processing multi-finger control, dual wrist camera streams, and large vision models.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Full 5-finger joint control + wrist camera API. Dual encoders per joint.
BrainCo Revo 2 Basic — Five-Finger Anthropomorphic Dexterity
The BrainCo Revo 2 Basic is a five-finger anthropomorphic dexterous hand that replicates the human hand's joint architecture and kinematic structure. Each of the five fingers is independently actuated with human-like joint placement and range of motion, enabling the full taxonomy of human grasps: power grips, precision pinches, tripod grasps, lateral holds, and hook grasps. The opposed thumb with multiple degrees of freedom provides the dexterity needed for in-hand manipulation — reorienting objects without releasing them, sliding fingers along surfaces, and executing fine motor tasks. Unlike simpler grippers, the Revo 2 Basic's anthropomorphic design makes it the ideal platform for research in human-robot interaction, imitation learning from human hand videos, and embodied AI studies that require human-like end effector morphology. Pre-installed on both 7-DOF arms, it transforms the Ultimate D into a true humanoid manipulation research platform.
BrainCo Revo 2 Basic — human-like five-finger dexterity for anthropomorphic manipulation research
Anthropomorphic Grasping — Human-Like Dexterity
Ultimate D unites 7-DOF arm redundancy with five-finger anthropomorphic dexterity for human-like manipulation. The BrainCo Revo 2 Basic can execute the complete taxonomy of human grasps: from enveloping power grips for heavy or large objects, to delicate precision pinches between thumb and index finger for small items, to stable tripod grasps using thumb, index, and middle fingers. The multi-DOF thumb enables lateral pinches, palmar grips, and complex opposition patterns impossible for three-finger or parallel designs. In-hand manipulation — shifting an object's position and orientation within the hand without releasing it — becomes achievable through coordinated finger motion. Combined with the 555 mm arm reach and wrist cameras for close-up visual feedback, the Ultimate D can replicate human manipulation strategies observed in video demonstrations, making it ideal for imitation learning and visual servoing research.
Five independently actuated fingers enable the full taxonomy of human grasps and in-hand manipulation
Vision-Wrist Fusion — Two-Scale Perception for Anthropomorphic Manipulation
Ultimate D fuses two complementary visual modalities on the Orin NX 100 TOPS: the head-mounted binocular camera provides global scene understanding, object detection, and navigation-grade depth estimation, while the wrist-mounted RGB cameras deliver local visual feedback of five-finger grasp execution at close range. This vision-wrist fusion is especially powerful for anthropomorphic hands: the wrist cameras capture finger joint configurations, contact geometry, and grasp quality metrics that are essential for learning human-like grasping policies. The 100 TOPS compute headroom enables running larger vision models for hand pose estimation, real-time grasp quality prediction from wrist camera views, and visual imitation learning from human hand videos — all processed onboard. The dual-stream architecture supports research in cross-viewpoint feature matching, multi-camera hand tracking, and vision-guided precision manipulation with five-finger control.
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.
Orin NX 100 TOPS — 2.5× AI Performance for Anthropomorphic Manipulation
The built-in NVIDIA Jetson Orin NX delivers 100 TOPS of AI compute — a 2.5× leap over the Smart series' 40 TOPS. For the Ultimate D, this extra headroom unlocks real-time hand pose estimation from wrist camera streams, onboard training of imitation learning policies from human demonstration videos, large vision-language models for natural-language task specification, and multi-finger trajectory optimisation with visual feedback. The Orin NX can process dual wrist camera feeds alongside head stereo vision, run dense hand mesh reconstruction, and execute concurrent SLAM and navigation — all without external hardware. Pre-installed and thermally integrated with the chassis cooling system, the module enables fully autonomous anthropomorphic manipulation research anywhere.
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
Ultimate D 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 NX 100 TOPS, this dual-modality perception stack supports research in visual-LiDAR SLAM, semantic navigation, and active perception for mobile manipulation — with enough headroom to also process dual wrist camera streams and run large vision models for hand pose estimation concurrently.
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. Wrist-mounted RGB cameras on both arms add close-up visual feedback for five-finger grasp refinement, hand pose estimation, and visual servoing. Combined with the MID360 LiDAR, the R1-A7-D Ultimate D offers a rich multi-camera perception stack for research in visual imitation learning, anthropomorphic grasping, and multi-viewpoint hand tracking — all processed on the 100 TOPS Orin NX.
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. The extra compute headroom of the Orin NX 100 TOPS allows running larger speech recognition and language models locally alongside visual manipulation and hand control tasks.
Collapsible. Mobile. Ready to Deploy.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A7-D Ultimate D 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 Ultimate D a clean slate for reinforcement learning, anthropomorphic manipulation research, imitation learning from human videos, embodied AI, and autonomous navigation studies. The built-in Orin NX 100 TOPS handles perception, planning, multi-camera stream processing, and large vision model inference locally without external hardware.
Upgrade Path — Grow With Your Research
Ultimate D is the high-performance anthropomorphic manipulation configuration. Expand capability as your research evolves:
- End Effectors — Swap to LinkerBot O6 for high-DOF gear-driven dexterity, Dex3-1 for three-finger adaptive manipulation, or tendon-driven hands for biomimetic compliance.
- Tactile Sensing — Upgrade to BrainCo Revo 2 Tactile for force-sensitive fingertips and palm arrays, enabling contact-aware anthropomorphic grasping.
- Large VLM — Deploy vision-language models for natural-language task specification and scene understanding. The 100 TOPS Orin NX has the headroom to run larger VLMs entirely onboard alongside five-finger control.
Designed For
Anthropomorphic Manipulation
Human-like five-finger grasping with power grips, precision pinches, tripod grasps, and in-hand manipulation using human-like joint architecture.
Human-Robot Interaction
Intuitive handover, gesture-based communication, and collaborative tasks leveraging anthropomorphic hand morphology and 100 TOPS compute.
Imitation Learning from Human Videos
Learn grasping and manipulation policies from human demonstration videos using wrist cameras and large vision models on 100 TOPS.
Embodied AI & University Labs
Cutting-edge research in anthropomorphic control, visual servoing with five-finger hands, and mobile humanoid intelligence.
Technical Specifications
| Model | Unitree R1-A7-D Ultimate D (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 | BrainCo Revo 2 Basic five-finger anthropomorphic hands (both arms, pre-installed) |
| Hand DOF | 5 independently actuated fingers per hand |
| Wrist Cameras | RGB integrated (pre-installed, both wrists) |
| Tactile Sensing | Not included (optional: BrainCo Revo 2 Tactile) |
| 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 NX 100 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 5-finger joint control + wrist camera API. Dual encoders per joint. |
| 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 Ultimate D Humanoid Robot (mobile base)
- BrainCo Revo 2 Basic five-finger anthropomorphic hands (pre-installed, both arms)
- Wrist RGB camera modules (pre-installed, both arms)
- NVIDIA Jetson Orin NX 100 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 compute module and end effector. Choose the one that matches your research goals:
| Config | Hand | Compute | Features |
|---|---|---|---|
| Ultimate A | Dex1-1 V2 | Orin NX 100 TOPS | Entry-level parallel grippers, 7-DOF arms, high-performance AI compute, MID360 LiDAR |
| Ultimate B | Dex3-1 (RGB) | Orin NX 100 TOPS | 3-finger dexterous hand with wrist RGB camera, high-performance visual manipulation |
| Ultimate C | Dex3-1 Tactile (RGB) | Orin NX 100 TOPS | 3-finger hand with tactile sensors + wrist RGB camera, three-modal perception |
| Ultimate D | BrainCo Revo 2 Basic (RGB) | Orin NX 100 TOPS | 5-finger anthropomorphic hand with wrist RGB camera, human-like dexterity |
| Ultimate E | BrainCo Revo 2 Tactile (RGB) | Orin NX 100 TOPS | 5-finger hand with tactile sensors + wrist RGB camera |
| Ultimate F | LinkerBot O6 (RGB) | Orin NX 100 TOPS | 6-DOF dexterous hand with wrist RGB camera |
| Ultimate G | LinkerBot O6 Tactile (RGB) | Orin NX 100 TOPS | 6-DOF hand with tactile sensors + wrist RGB camera, 130 N grip |
| Ultimate H | Tendon-driven dexterous hand | Orin NX 100 TOPS | Advanced tendon-driven mechanism for biomimetic dexterity, compliant manipulation |
* 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 Ultimate D
Mobile-Base Dual-Arm Humanoid Robot with BrainCo Revo 2 Basic Five-Finger Anthropomorphic Hands, Wrist RGB Cameras, 7-DOF Arms & Onboard Orin NX 100 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. The anthropomorphic high-performance manipulation platform.
R1-A7-D Ultimate D — mobile-base humanoid with 7-DOF arms, BrainCo Revo 2 Basic five-finger hands, wrist RGB cameras, MID360 LiDAR & Orin NX 100 TOPS
20
Total DOF
7+7
Arm DOF
120
Nm Torque
~2
kg Payload
100
TOPS AI
What's in This Configuration
The R1-A7-D Ultimate D is the anthropomorphic high-performance manipulation platform. It pairs the R1-A7-D autonomous mobile base — complete with 7-DOF arms, MID360 LiDAR, stereo vision, and a removable chassis battery — with BrainCo Revo 2 Basic five-finger anthropomorphic hands, wrist-mounted RGB cameras, and the powerful NVIDIA Jetson Orin NX 100 TOPS compute module. With human-like joint architecture across all five independently actuated fingers and 2.5× the AI compute of the Smart series, the Ultimate D delivers unprecedented capability for anthropomorphic manipulation research — from visual imitation learning of human hand videos to complex multi-finger grasping and in-hand manipulation, all processed onboard.
✓ 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.
✓ BrainCo Revo 2 Basic Five-Finger Hands
Anthropomorphic five-finger dexterous hands with human-like joint architecture and independent finger actuation pre-installed on both arms.
✓ Wrist RGB Cameras
Wrist-mounted RGB cameras pre-installed on both arms for close-up visual feedback of five-finger grasping and visual servoing.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Orin NX 100 TOPS
Built-in NVIDIA Jetson Orin NX delivering 100 TOPS for processing multi-finger control, dual wrist camera streams, and large vision models.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Full 5-finger joint control + wrist camera API. Dual encoders per joint.
BrainCo Revo 2 Basic — Five-Finger Anthropomorphic Dexterity
The BrainCo Revo 2 Basic is a five-finger anthropomorphic dexterous hand that replicates the human hand's joint architecture and kinematic structure. Each of the five fingers is independently actuated with human-like joint placement and range of motion, enabling the full taxonomy of human grasps: power grips, precision pinches, tripod grasps, lateral holds, and hook grasps. The opposed thumb with multiple degrees of freedom provides the dexterity needed for in-hand manipulation — reorienting objects without releasing them, sliding fingers along surfaces, and executing fine motor tasks. Unlike simpler grippers, the Revo 2 Basic's anthropomorphic design makes it the ideal platform for research in human-robot interaction, imitation learning from human hand videos, and embodied AI studies that require human-like end effector morphology. Pre-installed on both 7-DOF arms, it transforms the Ultimate D into a true humanoid manipulation research platform.
BrainCo Revo 2 Basic — human-like five-finger dexterity for anthropomorphic manipulation research
Anthropomorphic Grasping — Human-Like Dexterity
Ultimate D unites 7-DOF arm redundancy with five-finger anthropomorphic dexterity for human-like manipulation. The BrainCo Revo 2 Basic can execute the complete taxonomy of human grasps: from enveloping power grips for heavy or large objects, to delicate precision pinches between thumb and index finger for small items, to stable tripod grasps using thumb, index, and middle fingers. The multi-DOF thumb enables lateral pinches, palmar grips, and complex opposition patterns impossible for three-finger or parallel designs. In-hand manipulation — shifting an object's position and orientation within the hand without releasing it — becomes achievable through coordinated finger motion. Combined with the 555 mm arm reach and wrist cameras for close-up visual feedback, the Ultimate D can replicate human manipulation strategies observed in video demonstrations, making it ideal for imitation learning and visual servoing research.
Five independently actuated fingers enable the full taxonomy of human grasps and in-hand manipulation
Vision-Wrist Fusion — Two-Scale Perception for Anthropomorphic Manipulation
Ultimate D fuses two complementary visual modalities on the Orin NX 100 TOPS: the head-mounted binocular camera provides global scene understanding, object detection, and navigation-grade depth estimation, while the wrist-mounted RGB cameras deliver local visual feedback of five-finger grasp execution at close range. This vision-wrist fusion is especially powerful for anthropomorphic hands: the wrist cameras capture finger joint configurations, contact geometry, and grasp quality metrics that are essential for learning human-like grasping policies. The 100 TOPS compute headroom enables running larger vision models for hand pose estimation, real-time grasp quality prediction from wrist camera views, and visual imitation learning from human hand videos — all processed onboard. The dual-stream architecture supports research in cross-viewpoint feature matching, multi-camera hand tracking, and vision-guided precision manipulation with five-finger control.
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.
Orin NX 100 TOPS — 2.5× AI Performance for Anthropomorphic Manipulation
The built-in NVIDIA Jetson Orin NX delivers 100 TOPS of AI compute — a 2.5× leap over the Smart series' 40 TOPS. For the Ultimate D, this extra headroom unlocks real-time hand pose estimation from wrist camera streams, onboard training of imitation learning policies from human demonstration videos, large vision-language models for natural-language task specification, and multi-finger trajectory optimisation with visual feedback. The Orin NX can process dual wrist camera feeds alongside head stereo vision, run dense hand mesh reconstruction, and execute concurrent SLAM and navigation — all without external hardware. Pre-installed and thermally integrated with the chassis cooling system, the module enables fully autonomous anthropomorphic manipulation research anywhere.
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
Ultimate D 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 NX 100 TOPS, this dual-modality perception stack supports research in visual-LiDAR SLAM, semantic navigation, and active perception for mobile manipulation — with enough headroom to also process dual wrist camera streams and run large vision models for hand pose estimation concurrently.
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. Wrist-mounted RGB cameras on both arms add close-up visual feedback for five-finger grasp refinement, hand pose estimation, and visual servoing. Combined with the MID360 LiDAR, the R1-A7-D Ultimate D offers a rich multi-camera perception stack for research in visual imitation learning, anthropomorphic grasping, and multi-viewpoint hand tracking — all processed on the 100 TOPS Orin NX.
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. The extra compute headroom of the Orin NX 100 TOPS allows running larger speech recognition and language models locally alongside visual manipulation and hand control tasks.
Collapsible. Mobile. Ready to Deploy.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A7-D Ultimate D 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 Ultimate D a clean slate for reinforcement learning, anthropomorphic manipulation research, imitation learning from human videos, embodied AI, and autonomous navigation studies. The built-in Orin NX 100 TOPS handles perception, planning, multi-camera stream processing, and large vision model inference locally without external hardware.
Upgrade Path — Grow With Your Research
Ultimate D is the high-performance anthropomorphic manipulation configuration. Expand capability as your research evolves:
- End Effectors — Swap to LinkerBot O6 for high-DOF gear-driven dexterity, Dex3-1 for three-finger adaptive manipulation, or tendon-driven hands for biomimetic compliance.
- Tactile Sensing — Upgrade to BrainCo Revo 2 Tactile for force-sensitive fingertips and palm arrays, enabling contact-aware anthropomorphic grasping.
- Large VLM — Deploy vision-language models for natural-language task specification and scene understanding. The 100 TOPS Orin NX has the headroom to run larger VLMs entirely onboard alongside five-finger control.
Designed For
Anthropomorphic Manipulation
Human-like five-finger grasping with power grips, precision pinches, tripod grasps, and in-hand manipulation using human-like joint architecture.
Human-Robot Interaction
Intuitive handover, gesture-based communication, and collaborative tasks leveraging anthropomorphic hand morphology and 100 TOPS compute.
Imitation Learning from Human Videos
Learn grasping and manipulation policies from human demonstration videos using wrist cameras and large vision models on 100 TOPS.
Embodied AI & University Labs
Cutting-edge research in anthropomorphic control, visual servoing with five-finger hands, and mobile humanoid intelligence.
Technical Specifications
| Model | Unitree R1-A7-D Ultimate D (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 | BrainCo Revo 2 Basic five-finger anthropomorphic hands (both arms, pre-installed) |
| Hand DOF | 5 independently actuated fingers per hand |
| Wrist Cameras | RGB integrated (pre-installed, both wrists) |
| Tactile Sensing | Not included (optional: BrainCo Revo 2 Tactile) |
| 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 NX 100 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 5-finger joint control + wrist camera API. Dual encoders per joint. |
| 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 Ultimate D Humanoid Robot (mobile base)
- BrainCo Revo 2 Basic five-finger anthropomorphic hands (pre-installed, both arms)
- Wrist RGB camera modules (pre-installed, both arms)
- NVIDIA Jetson Orin NX 100 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 compute module and end effector. Choose the one that matches your research goals:
| Config | Hand | Compute | Features |
|---|---|---|---|
| Ultimate A | Dex1-1 V2 | Orin NX 100 TOPS | Entry-level parallel grippers, 7-DOF arms, high-performance AI compute, MID360 LiDAR |
| Ultimate B | Dex3-1 (RGB) | Orin NX 100 TOPS | 3-finger dexterous hand with wrist RGB camera, high-performance visual manipulation |
| Ultimate C | Dex3-1 Tactile (RGB) | Orin NX 100 TOPS | 3-finger hand with tactile sensors + wrist RGB camera, three-modal perception |
| Ultimate D | BrainCo Revo 2 Basic (RGB) | Orin NX 100 TOPS | 5-finger anthropomorphic hand with wrist RGB camera, human-like dexterity |
| Ultimate E | BrainCo Revo 2 Tactile (RGB) | Orin NX 100 TOPS | 5-finger hand with tactile sensors + wrist RGB camera |
| Ultimate F | LinkerBot O6 (RGB) | Orin NX 100 TOPS | 6-DOF dexterous hand with wrist RGB camera |
| Ultimate G | LinkerBot O6 Tactile (RGB) | Orin NX 100 TOPS | 6-DOF hand with tactile sensors + wrist RGB camera, 130 N grip |
| Ultimate H | Tendon-driven dexterous hand | Orin NX 100 TOPS | Advanced tendon-driven mechanism for biomimetic dexterity, compliant manipulation |
* 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 Ultimate D Humanoid Robot
SKU:
R1-A7-D-Ultimate-D
- Regular price
- $19,790.00
- Sale price
- $19,790.00
- Regular price
-
- Unit price
- per
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
Історія цін
Історія середніх цін
Одна точка даних на день — середнє за датою спостереження.
$19 790
Середні значення обчислюються за кожен день UTC на основі всіх зафіксованих цін пропозицій.
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