What's in This Configuration

The R1-A5 Smart B upgrades the entry-level platform with Dex3-1 three-finger dexterous hands — each equipped with a wrist-mounted RGB camera for close-up visual feedback during grasping. Combined with the built-in Orin Nano 40 TOPS, this configuration is purpose-built for researchers exploring in-hand manipulation, visual servoing, and adaptive grasping algorithms.

Dex3-1 — Three-Finger Dexterity with Visual Feedback

The Dex3-1 is a research-grade three-finger dexterous hand designed for adaptive grasping and precision manipulation. Each finger operates independently with multiple joints, enabling power grasps, pinch grasps, and in-hand reorientation of objects. The integrated wrist RGB camera provides a dedicated close-up view of the gripper workspace — critical for visual servoing, grasp pose estimation, and verification loops in autonomous manipulation pipelines.

Wrist-Mounted RGB Cameras — See What You Grasp

Each Dex3-1 hand carries a dedicated RGB camera at the wrist, streaming high-resolution video of the gripper's immediate workspace. This dual vantage point — head binocular vision for scene understanding plus wrist cameras for grasp detail — enables multi-scale perception pipelines. Researchers can implement visual servoing, track object deformation during grasp, and verify successful contact before releasing — all with minimal latency thanks to the onboard Orin Nano 40 TOPS.

Orin Nano 40 TOPS — AI Compute for Real-Time Manipulation

The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, handling simultaneous streams from the head binocular camera and both wrist RGB cameras. Run visual SLAM, grasp pose detection, and reinforcement learning policies locally with sub-millisecond latency. No external GPU server, no cloud dependency — just plug in power and start training.

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 wrist RGB cameras on each Dex3-1 hand, the R1-A5 Smart B offers a complete multi-camera perception stack for research in visual manipulation, active perception, and hand-eye coordination.

Voice Collaboration & Natural Interaction

Four-array beamforming microphones and dual 3 W speakers enable clear voice capture and synthesis in noisy labs or classrooms. The open audio framework supports custom wake words, multilingual TTS, and integration with LLMs for conversational command-and-control.

Compact. Lightweight. Desk-Ready.

At just 700 × 357 × 190 mm and approximately 11 kg, the R1-A5 Smart B fits on a standard lab bench or classroom desk. The fixed-base design eliminates footprint concerns while delivering full upper-body humanoid kinematics. Power via the included external supply — an optional upper-body Li-ion battery is available for ~1.5 hours of untethered operation.

Full-Stack Open Development

Unitree provides a mature, Linux-based robot development framework with open APIs for the underlying system, robotic arms, audio, lighting, and visual control. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the R1-A5 Smart B a clean slate for reinforcement learning, teleoperation research, and embodied AI. The built-in Orin Nano 40 TOPS handles model training and inference for multi-camera perception pipelines without external hardware.

Upgrade Path — Grow With Your Research

Start with Smart B and expand as your projects evolve. The R1-A5 platform is fully modular:

• End Effectors — Upgrade to Dex3-1 Tactile for force feedback, BrainCo Revo 2 5-finger hand for anthropomorphic grasping, or LinkerBot Hand O6 for 6-DOF dexterity.
• Upper-Body Battery — Add the Li-ion battery pack for ~1.5 hours of cord-free operation.
• Mobile Base — Upgrade to the R1-A5-D platform with wheeled autonomous chassis, LiDAR, and expanded workspace.

Designed For

Technical Specifications

Model	Unitree R1-A5 Smart B (Fixed Base)
Dimensions	700 × 357 × 190 mm
Weight	~11 kg (with external PSU)
Total DOF	13 (Arm 5×2, Waist 1, Head 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 three-finger dexterous hands with wrist RGB cameras (both arms)
Vision	Binocular camera — RGB 1280×720@30 Hz, Depth 544×448@10 Hz, FOV 146°×124°
Wrist Cameras	RGB camera integrated into each Dex3-1 hand for close-up visual feedback
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	External DC PSU included (optional Li-ion battery, ~1.5 h)
SDK & Interfaces	Linux-based framework, ROS 2, open APIs for arm/audio/vision/lighting
Controllers	Standard dual-hand controllers included
Warranty	12 months on the entire unit

What's in the Box

• Unitree R1-A5 Smart B Humanoid Robot (fixed base)
• Dex3-1 three-finger dexterous hands with wrist RGB cameras (pre-installed, both arms)
• NVIDIA Jetson Orin Nano 40 TOPS compute module (pre-installed)
• External power supply & AC cable
• 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 Configuration Guide

Every configuration shares the same R1-A5 body — 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
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 battery, compute module, 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.