R1-A7 Smart G — upper-body humanoid with LinkerBot O6 Tactile six-DOF dexterous hands, wrist RGB cameras & Orin Nano 40 TOPS

What's in This Configuration

The R1-A7 Smart G is the ultimate high-DOF tactile manipulation platform. You get the full upper-body dual-arm humanoid with 7-DOF arms, waist rotation, binocular vision, voice interaction, and open SDK — now paired with LinkerBot O6 Tactile six-DOF dexterous hands that combine unprecedented mechanical complexity with real-time force feedback. Each hand features 6 active DOF plus 5 passive joints (11 joints total) driven by worm-gear transmission, plus force-sensitive fingertips and palm arrays that measure contact forces across all fingers. Wrist-mounted RGB cameras deliver close-up visual confirmation. The built-in Orin Nano 40 TOPS compute module processes vision, tactile inference, and multi-modal fusion in real time. At just ~13 kg, the R1-A7 Smart G represents the absolute pinnacle of desktop humanoid manipulation research — maximum joints, maximum sensing, maximum capability.

Dual 7-DOF Arms. Redundant Kinematics. Human-Like Dexterity.

The R1-A7 Smart G is engineered around two 7-DOF high-performance arms, each driven by low-inertia inner-rotor PMSM motors with crossed-roller and double-row ball bearings. With 555 mm reach and a ~2 kg payload per arm, it handles precise assembly, pick-and-place, and manipulation research with human-like fluidity. The extra two degrees of freedom per arm (compared to 5-DOF platforms) provide kinematic redundancy — the arm can maintain end-effector pose while reconfiguring its elbow to avoid obstacles, reach around corners, or optimize for natural motion. Dual encoders on every joint deliver closed-loop precision down to ±0.1 mm.

Dual 7-DOF arms with LinkerBot O6 Tactile six-DOF dexterous hands for force-aware high-DOF manipulation

LinkerBot O6 Tactile — Six-DOF Dexterity That Feels

The LinkerBot O6 Tactile takes the already exceptional mechanical complexity of the O6 and adds a comprehensive tactile sensing layer. Each hand packs 6 active degrees of freedom plus 5 passive joints into an 11-joint architecture — the most complex hand in the R1-A7 lineup — now enhanced with force-sensitive arrays covering the fingertips and palm. The worm-gear transmission with high-torque servo modules delivers 130 N max five-finger grip force, 28 N at the thumb tip, and 33 N at the four-finger tips, with ±0.2 mm repeat accuracy at just 370 g per hand. The tactile sensors measure contact forces in real time during grasping, sliding, and manipulation, enabling the robot to detect slip, estimate object compliance, and modulate grip force dynamically across all 11 joints. This transforms high-DOF manipulation from a purely mechanical exercise into a true multi-modal sensorimotor skill — the robot doesn't just move its fingers precisely, it feels what those fingers are doing.

Tactile High-DOF Grasping — Force-Aware Dexterity at Maximum Complexity

With the LinkerBot O6 Tactile hands, the R1-A7 Smart G performs tactile high-DOF grasping that combines maximum mechanical complexity with real-time force awareness. The 6 active DOF per hand enable independent control of finger adduction, flexion, and opposition — the same degrees of freedom that give human hands their versatility — while the tactile sensors provide continuous feedback on contact quality, force distribution, and slip detection across all five fingers. Combined with 7-DOF arms, the robot achieves 20 controllable degrees of freedom per arm-hand chain plus tactile feedback, enabling whole-arm manipulation strategies where every joint contributes to dexterous, adaptive motion. The 130 N max grip force handles heavy or resistive objects, while tactile awareness prevents over-grasping of fragile items. This makes the Smart G the definitive platform for research in multi-modal high-DOF manipulation, tactile sensorimotor learning, and advanced embodied AI where both joint complexity and contact awareness are essential.

Wrist-Mounted RGB Cameras — See From the Gripper

Integrated RGB cameras on each wrist provide a gripper's-eye view of the workspace. These close-up feeds are invaluable for visual servoing, grasp verification, and fine manipulation tasks where the head-mounted stereo pair lacks resolution or the right viewing angle. With 6-DOF tactile hands, wrist cameras become essential — they capture detailed finger configurations, joint angles, and contact geometry, enabling precise visual feedback for high-DOF control algorithms while the tactile sensors confirm contact forces. This visual-tactile redundancy ensures robust manipulation even when one modality is ambiguous or occluded, and supports visual-tactile fusion research where both sensing streams are combined for superior grasp quality estimation.

Tactile-Vision-Wrist Fusion — Three-Modal Perception for High-DOF Manipulation

The R1-A7 Smart G fuses three sensing modalities into a unified perception stack optimized for maximum-complexity manipulation: stereo vision from the head for global scene understanding, close-up RGB from the wrist cameras for local hand-object interaction, and tactile sensing from the hand arrays for contact force feedback. The binocular camera proposes grasps and tracks objects across the workspace. The wrist cameras verify finger positioning and capture 11-joint hand configuration in detail. The tactile sensors confirm contact quality, detect slip, and provide force measurements for closed-loop control across all active joints. The Orin Nano 40 TOPS processes all three streams simultaneously, enabling real-time multi-modal sensor fusion that mimics human sensorimotor coordination at the highest level of mechanical complexity. This three-modal architecture is the definitive foundation for next-generation embodied AI research — from tactile exploration of unknown objects to force-aware high-DOF imitation learning from human demonstrations.

Waist Rotation — Expand Your Workspace

The 1-DOF waist joint provides ±150° of rotation, dramatically expanding the robot's reachable workspace without moving the base. In a seated or standing deployment, the waist allows the robot to turn and manipulate objects on either side, hand objects from one hand to the other across the body, and orient toward humans or workstations. Combined with 7-DOF arms and 6-DOF tactile dexterous hands, the R1-A7 Smart G achieves an extraordinary 24 controllable degrees of freedom across each arm-waist-hand chain plus tactile feedback — enabling whole-body manipulation strategies that leverage every joint and every sensor for dexterous, adaptive, force-aware motion.

Orin Nano 40 TOPS — AI Onboard, No Latency

The R1-A7 Smart G ships with a built-in NVIDIA Jetson Orin Nano delivering 40 TOPS of AI compute. This means visual perception, high-DOF grasp pose estimation, finger keypoint detection, tactile feature extraction, multi-modal fusion, and reinforcement learning policies all run in real time locally. Object detection models process head camera frames, hand pose estimators track 11 joints per hand from wrist camera feeds, tactile CNNs classify contact patterns, and multi-joint control policies fuse all three modalities — all without external GPU servers or cloud dependency. Just plug in power and start training the most advanced multi-modal high-DOF manipulation policies on a desktop platform.

Binocular Vision & AI Perception

A binocular camera head delivers a 146° × 124° field of view with a 60 mm stereo baseline. RGB streams at 1280×720@30 Hz and depth at 544×448@10 Hz give the R1-A7 true spatial awareness. Paired with an 8-core high-performance CPU + 10 TOPS NPU in the head module, plus the Orin Nano 40 TOPS body compute, it runs visual perception, object detection, and gesture recognition locally — no cloud required.

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. Desktop-Ready.

At just 835 × 357 × 190 mm and approximately 13 kg, the R1-A7 Smart G fits on a standard lab bench or classroom desk. Despite housing the most mechanically complex and sensor-rich hands in the lineup, the compact footprint leaves room for objects, tools, and sensors around the robot. Power via the included external supply — an optional upper-body Li-ion battery is available for ~1.5 hours of untethered operation.

Compact 13 kg upper-body design — deploy on any desk or lab bench with 6-DOF tactile high-dexterity hands

Full-Stack Open Development + Tactile API

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-A7 Smart G a clean slate for reinforcement learning, teleoperation research, multi-modal sensorimotor learning, high-DOF control algorithms, and embodied AI. The built-in Orin Nano 40 TOPS handles model training and inference for visual perception, high-DOF grasp planning, tactile feature extraction, and multi-modal fusion without external hardware. The open SDK includes full control over all 6 active DOF per hand plus passive joint state monitoring and high-frequency tactile sensor data streaming, ready for your custom force controllers, slip detectors, multi-joint learning algorithms, and advanced manipulation policies.

Upgrade Path — Grow With Your Research

Start with Smart G and expand as your projects evolve. The R1-A7 platform is fully modular:

• End Effectors — Swap LinkerBot O6 Tactile for BrainCo Revo 2 Basic or Tactile 5-finger hands, Dex3-1 or Dex3-1 Tactile 3-finger hands, or tendon-driven hands for alternative dexterity paradigms.
• Large VLM — Deploy vision-language models for natural-language manipulation commands, visual question answering, and semantic scene understanding.
• Compute Module — Swap the Orin Nano for the Orin NX 100 TOPS module to unlock 2.5× AI performance, 16 GB RAM, and dual DLA cores for simultaneous head camera, wrist camera, tactile, and high-DOF hand processing.
• Upper-Body Battery — Add the Li-ion battery pack for ~1.5 hours of cord-free operation.

Designed For

Technical Specifications