What's in This Configuration

The R1-A7-D Smart F pushes into high-DOF dexterous manipulation on a mobile platform. It pairs the R1-A7-D autonomous mobile base — complete with 7-DOF arms, MID360 LiDAR, stereo vision, and a removable chassis battery — with LinkerBot O6 six-DOF dexterous hands and wrist-mounted RGB cameras. With 6 active DOF plus 5 passive joints per hand, worm-gear transmission, and 130 N grip force, the LinkerBot O6 delivers research-grade dexterity for precision and power in every joint. The built-in Orin Nano 40 TOPS handles vision, control, and navigation in real time.

LinkerBot O6 — Six-DOF Dexterity for High-DOF Manipulation

The LinkerBot O6 is a six-DOF dexterous hand engineered for researchers who need maximum kinematic complexity without tactile sensing. Each hand features 6 active degrees of freedom plus 5 passive joints (11 joints total), driven by a worm-gear transmission with high-torque servo modules that deliver 130 N of five-finger grip force (28 N thumb tip, 33 N four-finger tip). At just 370 g per hand with ±0.2 mm repeat accuracy, the O6 achieves an exceptional power-to-weight ratio. The worm-gear design provides inherent backdrivability resistance and high mechanical advantage, making it ideal for precision assembly, tool use, and force-controlled manipulation. Pre-installed on both 7-DOF arms, the LinkerBot O6 creates a 20 controllable DOF per arm-hand chain — one of the most kinematically rich mobile manipulation platforms available.

High-DOF Grasping — Precision and Power in Every Joint

Smart F delivers 20 controllable degrees of freedom per arm-hand chain — 7 in the arm, 6 active in the hand, plus 5 passive joints that adapt to object geometry. This extreme kinematic redundancy enables whole-arm manipulation: using the arm to reposition the hand while fingers maintain contact, exploiting null-space motion to avoid obstacles, and executing complex regrasping sequences without releasing the object. The 130 N five-finger grip force handles heavy or slippery objects, while the ±0.2 mm repeat accuracy enables precision tasks like connector insertion, tool alignment, and delicate part handling. The worm-gear transmission ensures that high torque is delivered smoothly and predictably, with minimal backlash for research-grade repeatability.

Vision-Wrist Fusion — Two-Scale Perception for High-DOF Manipulation

Smart F 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 tracking 11 joints per hand and monitoring finger-object interaction. This vision-wrist fusion is essential for high-DOF manipulation: with 20 controllable joints per arm-hand chain, visual feedback becomes critical for verifying joint configurations, detecting contact states from appearance, and guiding complex multi-joint motions. Fused on the Orin Nano 40 TOPS, this dual-view architecture supports research in visual servoing for high-DOF hands, whole-arm trajectory optimisation, and dexterous manipulation with maximum kinematic complexity.

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 tracking 11 joints per hand and monitoring high-DOF finger-object interaction. Combined with the MID360 LiDAR, the R1-A7-D Smart F offers a complete perception stack for research in visual-LiDAR fusion, semantic navigation, and high-DOF mobile manipulation.

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 tendon-driven hands for biomimetic dexterity or alternative high-DOF designs.
• Tactile — Add force-sensitive fingertips and palm arrays to the LinkerBot O6 for contact-aware high-DOF manipulation (LinkerBot O6 Tactile).
• Compute Module — Swap to the 100 TOPS expansion for large-model inference, high-DOF trajectory optimisation, and multi-robot coordination.
• Large VLM — Deploy vision-language models for natural-language task specification and scene understanding with high-DOF hands.

Designed For

Technical Specifications

Model	Unitree R1-A7-D Smart F (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	LinkerBot O6 six-DOF dexterous hands (both arms, pre-installed)
Hand DOF	6 active + 5 passive joints per hand (11 joints total)
Hand Actuation	Worm-gear transmission with high-torque servo modules
Hand Weight	~370 g per hand
Hand Grip Force	130 N max five-finger; 28 N thumb tip; 33 N four-finger tip
Hand Repeat Accuracy	±0.2 mm
Wrist Cameras	RGB integrated (pre-installed, both wrists)
Tactile Sensing	Not included (optional: LinkerBot O6 Tactile)
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