What's in This Configuration

The R1-A5-D Smart G is the convergence of two advanced capabilities: the 6-DOF kinematic complexity of the LinkerBot Hand O6 and integrated tactile sensing for force-aware control. This is the only configuration to combine high-degree-of-freedom articulation with tactile feedback on a mobile base — enabling research in force-controlled high-DOF mobile manipulation, compliant grasping of fragile objects with complex hand poses while navigating, and multi-modal sensorimotor learning that demands both kinematic richness and touch.

LinkerBot Hand O6 Tactile — 6-DOF That Feels

The LinkerBot Hand O6 Tactile is the most advanced hand in the LinkerBot lineup. It combines the six-degree-of-freedom joint architecture of the standard O6 with an array of force-sensitive tactile sensors integrated into the fingertips and palm surfaces. This unique combination enables real-time pressure mapping and contact detection across complex hand configurations that are impossible with simpler grippers — critical for force-controlled high-DOF manipulation on a moving platform, compliant grasping of fragile objects in articulated poses while navigating, and physical human-robot interaction where both dexterity and touch matter simultaneously.

Tactile High-DOF Grasping — Dexterity Meets Touch on the Move

Smart G is the only R1-A5-D configuration to unite 6-DOF kinematic complexity with tactile sensing on a mobile base. The O6 Tactile hands can execute complex multi-point contact strategies, in-hand reorientation with force feedback, and compliant grasping of fragile objects in articulated poses — all while sensing contact forces to prevent damage and adapt grip strength in real time, even as the platform navigates between workstations. The tactile stream fuses with wrist camera RGB data, head binocular vision, and MID360 LiDAR on the Orin Nano 40 TOPS for a complete multi-modal perception pipeline that closes the loop between high-DOF dexterity, touch, and autonomous navigation.

Tactile-Visual-LiDAR Fusion — Complete Multi-Modal Perception

Smart G processes synchronized streams from five sensor modalities on the Orin Nano 40 TOPS: tactile pressure maps from each 6-DOF hand, close-up RGB from wrist cameras, scene-level depth from the head binocular camera, 360° point clouds from the MID360 LiDAR, and proprioceptive data from dual encoders on every joint. This rich multi-modal fusion enables research in tactile-visual-LiDAR servoing for high-DOF mobile hands, affordance prediction with force awareness across complex hand poses, slip-compensated grasping with articulated fingers while navigating, and sensorimotor learning in high-dimensional action spaces — domains where any single modality is insufficient.

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.

Orin Nano 40 TOPS — AI Compute for Tactile High-DOF Mobile Control

The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, handling simultaneous streams from tactile sensors, wrist RGB cameras, head binocular vision, and MID360 LiDAR while executing high-dimensional control policies for 6-DOF hands. Run tactile-visual-LiDAR fusion networks, grasp stability predictors, high-DOF policy optimization, and reinforcement learning algorithms with large action spaces locally with sub-millisecond latency. No external GPU server, no cloud dependency — just power on and deploy.

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, wrist RGB cameras, and tactile arrays on each LinkerBot Hand O6 Tactile, the R1-A5-D Smart G offers the most complete perception stack for research in multi-modal high-DOF 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 G 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, visual control, and tactile sensing. ROS 2 native support, dual encoders on every arm joint, and hollow internal wiring make the R1-A5-D Smart G a clean slate for reinforcement learning, tactile high-DOF mobile manipulation research, embodied AI, and autonomous navigation studies. The built-in Orin Nano 40 TOPS handles multi-modal perception and planning locally without external hardware.

Upgrade Path — Grow With Your Research

Smart G is the top high-DOF tactile mobile configuration. Expand further with platform-level upgrades:

• Compute Module — Swap to the 100 TOPS expansion for large-model inference, multi-modal learning, and multi-robot coordination.

Designed For

Technical Specifications

Model	Unitree R1-A5-D Smart G (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	LinkerBot Hand O6 Tactile 6-DOF dexterous hands with wrist RGB cameras (both arms, pre-installed)
Hand DOF	6 degrees of freedom per hand with advanced joint architecture
Wrist Cameras	RGB camera integrated into each LinkerBot Hand O6 Tactile for close-up visual feedback
Tactile Sensing	Force-sensitive fingertips and palm arrays on each hand for pressure mapping, contact detection, and slip prediction in 6-DOF configurations
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/tactile/lighting
Controllers	Standard dual-hand controllers included
Warranty	12 months on the entire unit

What's in the Box

• Unitree R1-A5-D Smart G Humanoid Robot (mobile base)
• LinkerBot Hand O6 Tactile 6-DOF 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.
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