What's in This Configuration

The R1-A7-D Smart G represents the ultimate high-DOF tactile manipulation 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 Tactile six-DOF dexterous hands, force-sensitive fingertip and palm arrays, and wrist-mounted RGB cameras. With 6 active + 5 passive joints per hand, 130 N grip force, and full tactile feedback across all fingers, the Smart G fuses three sensing modalities on the Orin Nano 40 TOPS for the most advanced multi-modal high-DOF manipulation research.

LinkerBot O6 Tactile — Six-DOF Dexterity That Feels

The LinkerBot O6 Tactile combines the extreme kinematic complexity of the six-DOF dexterous hand with force-sensitive tactile sensing at every fingertip and across both palms. Each hand retains 6 active degrees of freedom plus 5 passive joints (11 joints total), driven by a worm-gear transmission with high-torque servo modules delivering 130 N of five-finger grip force. The added tactile arrays measure pressure distribution, detect slip, and enable dynamic force modulation across all active joints — transforming the O6 from a high-DOF position-controlled manipulator into a contact-aware system that can handle fragile objects, explore surfaces by touch, and execute force-sensitive manipulation with millisecond precision. At just 370 g per hand with ±0.2 mm repeat accuracy, the O6 Tactile makes the R1-A7-D the most capable mobile high-DOF tactile manipulation platform available.

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

Smart G unites maximum kinematic complexity with tactile awareness. With 20 controllable degrees of freedom per arm-hand chain plus 5 passive adaptive joints, the robot can execute whole-arm manipulation strategies impossible for simpler hands — while the tactile arrays report exactly how hard and where every finger is touching. This fusion enables force-aware whole-arm manipulation: reorienting objects using arm null-space motion while maintaining precise grip force, detecting slip across any of the five fingers before it causes failure, and automatically modulating contact force for fragile or deformable items during complex multi-joint motions. The Orin Nano 40 TOPS processes tactile streams from all ten fingertips and both palms alongside visual data and 22 hand joints, running multi-modal high-DOF control policies entirely onboard.

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

Smart G fuses three complementary sensing modalities on the Orin Nano 40 TOPS: the head-mounted binocular camera provides global scene understanding, the wrist-mounted RGB cameras deliver local visual feedback of 11-joint finger-object interaction, and the tactile arrays report real-time contact forces from all five fingertips and both palms. This tactile-vision-wrist fusion creates an unprecedented multi-modal representation of high-DOF manipulation — enabling the robot to see an object, plan a complex multi-joint grasp, execute it with visual guidance, and refine grip force and joint angles based on tactile feedback across all 22 hand joints. All three streams are timestamp-synchronised and accessible through the open tactile API, supporting cutting-edge research in cross-modal perception, sensorimotor learning with high-DOF hands, and adaptive control at 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 and tactile sensor arrays on both arms add close-up visual and force feedback for multi-modal high-DOF grasping. Combined with the MID360 LiDAR, the R1-A7-D Smart G offers a complete three-modal perception stack for research in tactile-vision fusion, semantic navigation, and contact-aware 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.
• Large VLM — Deploy vision-language models for natural-language task specification and scene understanding with high-DOF hands.
• Compute — Swap to the 100 TOPS expansion for large-model inference, multi-modal fusion, high-DOF trajectory optimisation, and multi-robot coordination.

Designed For

Technical Specifications

Model	Unitree R1-A7-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)	~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 Tactile 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	Force-sensitive fingertips and palm arrays (pre-installed)
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