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.

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.

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.

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

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.