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Description
Unitree Robotics
Unitree R1-A7-D Smart B
Mobile-Base Dual-Arm Humanoid Robot with Dex3-1 Three-Finger Dexterous Hands & Wrist RGB Cameras. 20 DOF, 7-DOF Arms, Orin Nano 40 TOPS, MID360 LiDAR, stereo vision & full-stack open SDK. For advanced visual manipulation research.
20
Total DOF
7+7
Arm DOF
120
Nm Torque
~2
kg Payload
40
TOPS AI
What's in This Configuration
The R1-A7-D Smart B steps up to three-finger dexterous manipulation. It pairs the R1-A7-D autonomous mobile base — complete with 7-DOF arms, MID360 LiDAR, stereo vision, and a removable chassis battery — with Dex3-1 three-finger dexterous hands and wrist-mounted RGB cameras for visual servoing and grasp verification. The built-in Orin Nano 40 TOPS processes stereo vision, wrist camera streams, and arm control in real time.
✓ R1-A7-D Mobile Base Body
Full upper-body humanoid on a wheeled autonomous chassis: dual 7-DOF arms, 1-DOF waist, 2-DOF head, 1-DOF pillar, 2-DOF base. 683×520×440 mm collapsed, ~32 kg with battery.
✓ Dex3-1 Three-Finger Dexterous Hands
Three-finger dexterous hands with independent finger actuation pre-installed on both arms for adaptive grasping, in-hand manipulation, and dexterous research.
✓ Wrist RGB Cameras
Wrist-mounted RGB cameras pre-installed on both arms for close-up visual feedback, grasp pose estimation, and visual servoing during manipulation.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Stereo Vision Head
Binocular camera head with RGB and depth streaming for scene understanding, object detection, and visual servoing.
✓ Orin Nano 40 TOPS
Built-in NVIDIA Jetson Orin Nano delivering 40 TOPS for onboard perception, navigation, and arm control.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Dual encoders per joint. Crossed-roller + double-row ball bearings.
Dex3-1 — Three-Finger Dexterity
The Dex3-1 is a compact three-finger dexterous hand engineered for adaptive grasping and in-hand manipulation. Each finger is independently actuated, enabling a rich repertoire of grasps — from power grips on bulky objects to precision pinches on small parts. The three-finger architecture strikes an optimal balance between dexterity and control complexity, making it ideal for research in visual servoing, grasp planning, and bimanual coordination. Pre-installed on both 7-DOF arms, the Dex3-1 turns the R1-A7-D into a mobile platform capable of sophisticated manipulation in unstructured environments.
Wrist-Mounted RGB Cameras — See What You Grasp
Smart B adds wrist-mounted RGB cameras to both arms, delivering close-up visual feedback of the hand-object interaction. These cameras stream colour video at 1280×720@30 Hz with a wide field of view optimised for grasp verification, pose refinement, and visual servoing. Combined with the head-mounted stereo pair, the wrist cameras create a two-scale visual perception system: the head camera sees the scene, the wrist camera sees the grasp. Fused on the Orin Nano 40 TOPS, this dual-view architecture supports research in active perception, visual imitation learning, and closed-loop dexterous manipulation.
Vision-Wrist Fusion — Two-Scale Perception for Manipulation
Smart B processes visual data from two complementary viewpoints: the head-mounted binocular camera provides global scene understanding and object localisation, while the wrist-mounted RGB cameras offer local, hand-centric views for grasp pose estimation and execution monitoring. This vision-wrist fusion enables the robot to plan grasps from a distance, approach objects with visual guidance, and verify success through close-up inspection — all on the Orin Nano 40 TOPS without external compute. Ideal for research in visual servoing, active perception, and sensorimotor learning.
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. Wrist-mounted RGB cameras on both arms add close-up visual feedback for grasp verification and visual servoing. Combined with the MID360 LiDAR, the R1-A7-D Smart B offers a complete perception stack for research in visual-LiDAR fusion, semantic navigation, and mobile manipulation with dexterous hands.
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 BrainCo Revo 2, LinkerBot O6, or tendon-driven hands for anthropomorphic or high-DOF dexterity.
- Tactile — Add force-sensitive fingertips and palm arrays to the Dex3-1 for contact-aware manipulation (Dex3-1 Tactile).
- Compute Module — Swap to the 100 TOPS expansion for large-model inference and multi-robot coordination.
- Large VLM — Deploy vision-language models for natural-language task specification and scene understanding.
Designed For
Visual Manipulation
Closed-loop grasping with wrist camera feedback, visual servoing, and active perception for mobile dexterous manipulation.
Dexterous Grasping
Research in adaptive grasp planning, three-finger grasp taxonomy, in-hand manipulation, and bimanual coordination on a mobile base.
Active Perception
Multi-camera sensor fusion, visual-LiDAR SLAM, and viewpoint planning for manipulation-driven perception on the move.
Embodied AI & Bimanual Coordination
Dual-arm task planning, imitation learning from human videos, and sensorimotor learning on a mobile humanoid platform.
Technical Specifications
Description
Unitree Robotics
Unitree R1-A7-D Smart B
Mobile-Base Dual-Arm Humanoid Robot with Dex3-1 Three-Finger Dexterous Hands & Wrist RGB Cameras. 20 DOF, 7-DOF Arms, Orin Nano 40 TOPS, MID360 LiDAR, stereo vision & full-stack open SDK. For advanced visual manipulation research.
20
Total DOF
7+7
Arm DOF
120
Nm Torque
~2
kg Payload
40
TOPS AI
What's in This Configuration
The R1-A7-D Smart B steps up to three-finger dexterous manipulation. It pairs the R1-A7-D autonomous mobile base — complete with 7-DOF arms, MID360 LiDAR, stereo vision, and a removable chassis battery — with Dex3-1 three-finger dexterous hands and wrist-mounted RGB cameras for visual servoing and grasp verification. The built-in Orin Nano 40 TOPS processes stereo vision, wrist camera streams, and arm control in real time.
✓ R1-A7-D Mobile Base Body
Full upper-body humanoid on a wheeled autonomous chassis: dual 7-DOF arms, 1-DOF waist, 2-DOF head, 1-DOF pillar, 2-DOF base. 683×520×440 mm collapsed, ~32 kg with battery.
✓ Dex3-1 Three-Finger Dexterous Hands
Three-finger dexterous hands with independent finger actuation pre-installed on both arms for adaptive grasping, in-hand manipulation, and dexterous research.
✓ Wrist RGB Cameras
Wrist-mounted RGB cameras pre-installed on both arms for close-up visual feedback, grasp pose estimation, and visual servoing during manipulation.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Stereo Vision Head
Binocular camera head with RGB and depth streaming for scene understanding, object detection, and visual servoing.
✓ Orin Nano 40 TOPS
Built-in NVIDIA Jetson Orin Nano delivering 40 TOPS for onboard perception, navigation, and arm control.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Dual encoders per joint. Crossed-roller + double-row ball bearings.
Dex3-1 — Three-Finger Dexterity
The Dex3-1 is a compact three-finger dexterous hand engineered for adaptive grasping and in-hand manipulation. Each finger is independently actuated, enabling a rich repertoire of grasps — from power grips on bulky objects to precision pinches on small parts. The three-finger architecture strikes an optimal balance between dexterity and control complexity, making it ideal for research in visual servoing, grasp planning, and bimanual coordination. Pre-installed on both 7-DOF arms, the Dex3-1 turns the R1-A7-D into a mobile platform capable of sophisticated manipulation in unstructured environments.
Wrist-Mounted RGB Cameras — See What You Grasp
Smart B adds wrist-mounted RGB cameras to both arms, delivering close-up visual feedback of the hand-object interaction. These cameras stream colour video at 1280×720@30 Hz with a wide field of view optimised for grasp verification, pose refinement, and visual servoing. Combined with the head-mounted stereo pair, the wrist cameras create a two-scale visual perception system: the head camera sees the scene, the wrist camera sees the grasp. Fused on the Orin Nano 40 TOPS, this dual-view architecture supports research in active perception, visual imitation learning, and closed-loop dexterous manipulation.
Vision-Wrist Fusion — Two-Scale Perception for Manipulation
Smart B processes visual data from two complementary viewpoints: the head-mounted binocular camera provides global scene understanding and object localisation, while the wrist-mounted RGB cameras offer local, hand-centric views for grasp pose estimation and execution monitoring. This vision-wrist fusion enables the robot to plan grasps from a distance, approach objects with visual guidance, and verify success through close-up inspection — all on the Orin Nano 40 TOPS without external compute. Ideal for research in visual servoing, active perception, and sensorimotor learning.
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. Wrist-mounted RGB cameras on both arms add close-up visual feedback for grasp verification and visual servoing. Combined with the MID360 LiDAR, the R1-A7-D Smart B offers a complete perception stack for research in visual-LiDAR fusion, semantic navigation, and mobile manipulation with dexterous hands.
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 BrainCo Revo 2, LinkerBot O6, or tendon-driven hands for anthropomorphic or high-DOF dexterity.
- Tactile — Add force-sensitive fingertips and palm arrays to the Dex3-1 for contact-aware manipulation (Dex3-1 Tactile).
- Compute Module — Swap to the 100 TOPS expansion for large-model inference and multi-robot coordination.
- Large VLM — Deploy vision-language models for natural-language task specification and scene understanding.
Designed For
Visual Manipulation
Closed-loop grasping with wrist camera feedback, visual servoing, and active perception for mobile dexterous manipulation.
Dexterous Grasping
Research in adaptive grasp planning, three-finger grasp taxonomy, in-hand manipulation, and bimanual coordination on a mobile base.
Active Perception
Multi-camera sensor fusion, visual-LiDAR SLAM, and viewpoint planning for manipulation-driven perception on the move.
Embodied AI & Bimanual Coordination
Dual-arm task planning, imitation learning from human videos, and sensorimotor learning on a mobile humanoid platform.
Technical Specifications
Unitree
by
Unitree
Unitree R1-A7-D Smart B Humanoid Robot
- Regular price
- $20,390.00
- Sale price
- $20,390.00
- Regular price
-
Shipping calculated at checkout.
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Packaging note:
Equipment is being supplied in a manufacturer packaging
