What's in This Configuration

The R1-A5 Smart E represents the pinnacle of the fixed-base R1-A5 lineup. It combines BrainCo Revo 2 Tactile five-finger anthropomorphic hands with integrated force-sensitive tactile sensors and wrist RGB cameras. This is the only fixed-base configuration to offer both human-like hand morphology and tactile feedback — enabling research in force-controlled anthropomorphic grasping, delicate object handling, and physical human-robot interaction at the highest level.

BrainCo Revo 2 Tactile — Five Fingers That Feel

The BrainCo Revo 2 Tactile is the most advanced hand in the R1-A5 fixed-base lineup. It combines the full five-finger anthropomorphic morphology of the Revo 2 Basic with an array of force-sensitive tactile sensors integrated into the fingertips and palm surfaces. This enables real-time pressure mapping, contact detection, slip prediction, and compliant grasping — all critical for handling fragile objects, performing delicate assembly, and engaging in safe physical human-robot interaction. The tactile stream fuses with wrist camera RGB data and head binocular vision on the Orin Nano 40 TOPS for a complete multi-modal perception pipeline.

Tactile Anthropomorphic Grasping — The Best of Both Worlds

Smart E is the only fixed-base R1-A5 configuration to combine five-finger human-like morphology with tactile sensing. The Revo 2 Tactile hands can operate human tools, grip pens, turn knobs, and handle delicate objects — while simultaneously sensing contact forces to prevent damage and adapt grip strength in real time. This dual capability is essential for research in safe physical HRI, compliant manipulation of fragile and deformable objects, and sensorimotor learning where both dexterity and touch matter.

Tactile-Visual Fusion — Complete Multi-Modal Perception

Smart E processes synchronized streams from four sensor modalities on the Orin Nano 40 TOPS: tactile pressure maps from each finger, close-up RGB from wrist cameras, scene-level depth from the head binocular camera, and proprioceptive data from dual encoders on every joint. This rich multi-modal fusion enables research in tactile-visual servoing, affordance prediction with force awareness, slip-compensated grasping, and sensorimotor learning — domains where any single modality is insufficient.

Orin Nano 40 TOPS — AI Compute for Multi-Modal Manipulation

The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, handling simultaneous streams from tactile sensors, wrist RGB cameras, and head binocular vision. Run tactile-visual fusion networks, grasp stability predictors, five-finger control policies, and reinforcement learning algorithms 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 and tactile arrays on each BrainCo Revo 2 Tactile hand, the R1-A5 Smart E offers the most complete perception stack in the fixed-base lineup for research in multi-modal manipulation, active perception, and sensorimotor learning.

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 E fits on a standard lab bench or classroom desk. The fixed-base design eliminates footprint concerns while delivering full upper-body humanoid kinematics with five-finger tactile dexterity. 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, visual control, and tactile sensing. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the R1-A5 Smart E a clean slate for reinforcement learning, teleoperation research, embodied AI, and tactile anthropomorphic manipulation studies. The built-in Orin Nano 40 TOPS handles multi-modal model training and inference for five-finger tactile control without external hardware.

Upgrade Path — Grow With Your Research

Smart E is the top fixed-base configuration. Expand further with platform-level upgrades:

• 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 E (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	BrainCo Revo 2 Tactile five-finger anthropomorphic hands with wrist RGB cameras (both arms)
Finger Configuration	5 independently actuated fingers per hand (thumb + index + middle + ring + pinky)
Tactile Sensing	Force-sensitive fingertips and palm arrays on each hand for pressure mapping, contact detection, and slip prediction
Vision	Binocular camera — RGB 1280×720@30 Hz, Depth 544×448@10 Hz, FOV 146°×124°
Wrist Cameras	RGB camera integrated into each BrainCo Revo 2 Tactile 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/tactile/lighting
Controllers	Standard dual-hand controllers included
Warranty	12 months on the entire unit

What's in the Box

• Unitree R1-A5 Smart E Humanoid Robot (fixed base)
• BrainCo Revo 2 Tactile five-finger anthropomorphic 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.