What's in This Configuration

The R1-A7-D Smart A is the entry point into advanced mobile humanoid research. It pairs the R1-A7-D autonomous mobile base — complete with 7-DOF arms, MID360 LiDAR, stereo vision, and a removable chassis battery — with Dex1-1 V2 parallel grippers for reliable pick-and-place. The built-in Orin Nano 40 TOPS handles onboard navigation, perception, and control without external compute.

Dex1-1 V2 — Reliable Parallel Gripping

The Dex1-1 V2 is a proven two-finger parallel gripper designed for consistency and durability. Its simple, robust mechanism delivers repeatable grasping force for a wide range of industrial and research objects — from small electronic components to medium-weight boxes. Pre-installed on both 7-DOF arms, it turns the R1-A7-D into a capable mobile manipulator for logistics, laboratory automation, and advanced robotics research.

7-DOF Arms — Human-Like Redundancy & Reach

The R1-A7-D features seven degrees of freedom per arm — matching the kinematic complexity of the human upper limb. With a 555 mm reach (forearm + upper arm) and 120 Nm peak shoulder torque, these arms can reach around obstacles, maintain orientation while translating the end effector, and execute complex trajectories impossible for simpler 5- or 6-DOF manipulators. Crossed-roller and double-row ball bearings on every joint ensure smooth, precise motion with minimal backlash. Dual encoders per joint provide closed-loop accuracy for research-grade repeatability.

Autonomous Mobile Base — Navigate, Then Manipulate

The R1-A7-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. Please note: the upper body of this model does not accept a battery.

LiDAR + Stereo Vision — Complete Perception Stack

Smart A processes data from two complementary sensors: a MID360 360° LiDAR for metrically accurate mapping and long-range obstacle detection, and a binocular camera head (146°×124° FOV, 60 mm baseline) for colour vision, object recognition, and depth estimation. Fused on the Orin Nano 40 TOPS, this dual-modality perception stack supports research in visual-LiDAR SLAM, semantic navigation, and active perception for mobile manipulation.

Orin Nano 40 TOPS — Onboard AI for Navigation & Control

The built-in NVIDIA Jetson Orin Nano delivers 40 TOPS of AI compute, running SLAM, path planning, object detection, and arm trajectory generation 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. Optional 40 or 100 TOPS compute expansion modules are available for future upgrades.

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, the R1-A7-D Smart A offers a complete perception stack for research in visual-LiDAR fusion, semantic navigation, and mobile manipulation. Optional wrist cameras can be added for close-up visual feedback.

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-A7-D Smart A navigates standard doorways, elevators, and lab aisles. The telescopic pillar lowers the upper body for transport and raises it for manipulation. At approximately 32 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, hollow internal wiring, and low-inertia, high-speed inner-rotor permanent magnet synchronous motors make the R1-A7-D Smart A 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 A is the entry-level mobile configuration. Expand capability as your research evolves:

• End Effectors — Upgrade to Dex3-1, BrainCo Revo 2, LinkerBot O6, or tendon-driven hands for advanced dexterity.
• Compute Module — Swap to the 100 TOPS expansion for large-model inference and multi-robot coordination.
• Wrist Cameras — Add RGB cameras to each arm for close-up visual feedback and grasp verification.
• Tactile Sensing — Add force-sensitive fingertips and palm arrays for contact-rich manipulation research.

Designed For

Technical Specifications

Model	Unitree R1-A7-D Smart A (Mobile Base)
Dimensions (Collapsed)	683 × 520 × 440 mm (H × W × D)
Dimensions (Elevated)	1323 × 520 × 440 mm (H × W × D)
Weight (with Battery)	~32 kg
Total DOF	20 (Arm 7×2, Waist 1, Head 2, Pillar 1, Base 2)
Arm Reach	555 mm (forearm + upper arm)
Peak Shoulder Torque	120 Nm
Max Arm Payload	~2 kg (posture-dependent)
End-Effector Precision	±0.1 mm
End Effectors	Dex1-1 V2 parallel grippers (both arms, pre-installed)
Wrist Cameras	Not included (optional)
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.
Joint Bearings	Crossed-roller + Double-row ball bearings
Joint Motor	Low-inertia, high-speed, inner-rotor permanent magnet synchronous motor
Joint Encoders	Dual + Single per joint
Cabling	Hollow + Internal routing
Cooling	Localized air cooling
Waist Motion	Y: ±150°
Head Motion	Y: ±115°, P: ±36°
SDK & Interfaces	Linux-based framework, ROS 2, open APIs for arm/base/audio/vision/lighting
Controllers	Standard dual-hand controllers included
Rear Port Power	Yes
Smart OTA	Supported
Warranty	12 months on the entire unit

What's in the Box

• Unitree R1-A7-D Smart A Humanoid Robot (mobile base)
• Dex1-1 V2 parallel grippers (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-A7-D Configuration Guide

Every configuration shares the same R1-A7-D mobile base with 7-DOF arms — 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, 7-DOF arms, 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-f