About

Description
Unitree Robotics

Unitree R1-A7-D Ultimate E

Mobile-Base Dual-Arm Humanoid Robot with BrainCo Revo 2 Tactile Five-Finger Anthropomorphic Hands, Wrist RGB Cameras, 7-DOF Arms & Onboard Orin NX 100 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. The ultimate anthropomorphic tactile manipulation platform.

Unitree R1-A7-D Ultimate E mobile-base dual-arm humanoid robot with BrainCo Revo 2 Tactile five-finger hands

R1-A7-D Ultimate E — mobile-base humanoid with 7-DOF arms, BrainCo Revo 2 Tactile five-finger hands, wrist RGB cameras, MID360 LiDAR & Orin NX 100 TOPS

20
Total DOF
7+7
Arm DOF
120
Nm Torque
~2
kg Payload
100
TOPS AI

What's in This Configuration

The R1-A7-D Ultimate E is the ultimate anthropomorphic 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 BrainCo Revo 2 Tactile five-finger anthropomorphic hands, force-sensitive fingertip and palm arrays, wrist-mounted RGB cameras, and the powerful NVIDIA Jetson Orin NX 100 TOPS compute module. With human-like joint architecture across all five fingers, full tactile feedback, and 2.5× the AI compute of the Smart series, the Ultimate E represents the pinnacle of anthropomorphic mobile manipulation research — fusing three sensing modalities across ten fingertips and two palms, all processed in real time onboard.

✓ 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.
✓ BrainCo Revo 2 Tactile Five-Finger Hands
Anthropomorphic five-finger dexterous hands with human-like joint architecture and force-sensitive tactile sensors pre-installed on both arms.
✓ Tactile Sensor Array
Force-sensitive fingertips and palm arrays pre-installed on both hands for slip detection, dynamic force modulation, and tactile exploration across all five fingers.
✓ Wrist RGB Cameras
Wrist-mounted RGB cameras pre-installed on both arms for close-up visual feedback of five-finger grasping and visual servoing.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Orin NX 100 TOPS
Built-in NVIDIA Jetson Orin NX delivering 100 TOPS for fusing vision, tactile, and five-finger control streams from both hands in real time.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, tactile, lighting. Full 5-finger joint control + tactile streaming API. Dual encoders per joint.

BrainCo Revo 2 Tactile — Five-Finger Dexterity That Feels

The BrainCo Revo 2 Tactile combines the human-like five-finger anthropomorphic architecture of the Revo 2 Basic with force-sensitive tactile sensing at every fingertip and across both palms. Each of the five fingers retains independent actuation with human-like joint placement, enabling the full taxonomy of human grasps — power grips, precision pinches, tripod grasps, lateral holds, and in-hand manipulation — while the tactile arrays measure pressure distribution, detect slip, and enable dynamic force modulation across all ten fingertips. This transforms the Revo 2 from a vision-guided anthropomorphic manipulator into a contact-aware human-like system that can handle fragile objects, explore surfaces by touch, execute force-sensitive manipulation with millisecond precision, and provide the rich tactile feedback essential for multi-modal sensorimotor learning. Pre-installed on both 7-DOF arms, the Revo 2 Tactile makes the Ultimate E the most capable anthropomorphic mobile manipulation platform available.

Unitree R1-A7-D Ultimate E with BrainCo Revo 2 Tactile five-finger hands

BrainCo Revo 2 Tactile — force-sensitive five-finger anthropomorphic dexterity for the ultimate mobile manipulation

Tactile Anthropomorphic Grasping — Feeling What You Grasp

Ultimate E unites human-like five-finger dexterity with tactile awareness at the highest level. The BrainCo Revo 2 Tactile can execute the complete taxonomy of human grasps — from enveloping power grips to delicate precision pinches — while the tactile arrays report exactly how hard and where each of the five fingers is touching. This enables force-aware anthropomorphic grasping: maintaining consistent contact force during in-hand manipulation, detecting slip across any of the five fingers before vision notices, automatically modulating grip strength for fragile or deformable objects, and recovering from perturbations by feeling rather than seeing. The multi-DOF thumb with tactile feedback enables nuanced opposition control impossible for simpler hands. The Orin NX 100 TOPS processes tactile streams from all ten fingertips and both palms alongside three visual data streams, running multi-modal five-finger control policies entirely onboard with compute headroom for concurrent LLM inference.

Tactile anthropomorphic grasping with BrainCo Revo 2 Tactile on R1-A7-D Ultimate E

Tactile sensor arrays on all ten fingertips and both palms enable force-aware five-finger manipulation

Tactile-Vision-Wrist Fusion — Three-Modal Perception for Anthropomorphic Manipulation

Ultimate E fuses three complementary sensing modalities on the Orin NX 100 TOPS: the head-mounted binocular camera provides global scene understanding, the wrist-mounted RGB cameras deliver local visual feedback of five-finger grasp execution, and the tactile arrays report real-time contact forces from all ten fingertips and both palms. This tactile-vision-wrist fusion creates an unprecedented multi-modal representation of anthropomorphic manipulation — enabling the robot to see an object, plan a human-like multi-finger grasp, execute it with visual guidance, and refine grip force and finger positions based on tactile feedback across all five digits. All three streams are timestamp-synchronised and accessible through the open tactile API, supporting cutting-edge research in cross-modal perception, sensorimotor learning with anthropomorphic hands, and adaptive control. The 100 TOPS compute budget handles all three modalities for both hands concurrently while leaving room for large vision-language models and task planning.

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.

Orin NX 100 TOPS — 2.5× AI Performance for Ultimate Manipulation

The built-in NVIDIA Jetson Orin NX delivers 100 TOPS of AI compute — a 2.5× leap over the Smart series' 40 TOPS. For the Ultimate E, this extra headroom is essential: it enables real-time processing of seven simultaneous sensor streams (head stereo + dual wrist RGB + dual tactile arrays from ten fingertips and two palms), larger vision backbones for hand pose estimation and grasp quality prediction, onboard training of tactile-vision fusion policies using reinforcement or imitation learning, and concurrent vision-language model inference for natural-language task specification. The Orin NX also accelerates dense depth estimation, visual-LiDAR fusion for navigation, and multi-object tracking — all while maintaining low-latency tactile feedback loops for all five fingers on both hands. Pre-installed and thermally integrated with the chassis cooling system, the module runs entirely onboard with no external GPU server or cloud dependency.

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

Ultimate E 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 NX 100 TOPS, this dual-modality perception stack supports research in visual-LiDAR SLAM, semantic navigation, and active perception for mobile manipulation — with enough headroom to also process dual wrist camera streams and tactile arrays from both hands concurrently.

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 five-finger grasping. Combined with the MID360 LiDAR, the R1-A7-D Ultimate E offers a complete three-modal perception stack for research in tactile-vision fusion, semantic navigation, and contact-aware anthropomorphic mobile manipulation — all processed on the 100 TOPS Orin NX.

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. The extra compute headroom of the Orin NX 100 TOPS allows running larger speech recognition and language models locally alongside multi-modal five-finger manipulation tasks.

Collapsible. Mobile. Ready to Deploy.

At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A7-D Ultimate E 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.

Unitree R1-A7-D mobile base with collapsed and elevated configurations

Collapsed (683 mm) and elevated (1323 mm) configurations for navigation and manipulation

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 Ultimate E a clean slate for reinforcement learning, multi-modal sensorimotor research, tactile-anthropomorphic fusion, embodied AI, and autonomous navigation studies. The built-in Orin NX 100 TOPS handles perception, planning, multi-modal stream processing, and large vision model inference locally without external hardware, with enough headroom for the most demanding multi-task learning scenarios.

Upgrade Path — Grow With Your Research

Ultimate E is the ultimate anthropomorphic tactile manipulation configuration. Expand capability as your research evolves:

  • End Effectors — Swap to LinkerBot O6 for high-DOF gear-driven dexterity, Dex3-1 for three-finger adaptive manipulation, or tendon-driven hands for biomimetic compliance.
  • Large VLM — Deploy vision-language models for natural-language task specification and scene understanding. The 100 TOPS Orin NX has the headroom to run the largest VLMs entirely onboard alongside tactile-vision fusion for all ten fingertips.

Designed For

Tactile Anthropomorphic Manipulation
Force-aware five-finger grasping with full human grasp taxonomy, slip detection, and dynamic grip modulation across all ten fingertips.
Multi-Modal Sensorimotor Learning
Cross-modal perception fusing vision, tactile, and proprioception from five-finger hands for embodied AI and adaptive control on 100 TOPS.
Physical Human-Robot Interaction
Safe contact-rich handover, tactile exploration with human-like fingers, and force-sensitive interaction in shared environments.
Advanced University Research
Cutting-edge research in tactile-anthropomorphic fusion, multi-modal policy learning with five fingers, and mobile sensorimotor intelligence.

Technical Specifications

Model Unitree R1-A7-D Ultimate E (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 BrainCo Revo 2 Tactile five-finger anthropomorphic hands (both arms, pre-installed)
Hand DOF 5 independently actuated fingers per hand
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 NX 100 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/tactile/lighting. Full 5-finger joint control + tactile streaming API. Dual encoders per joint.
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 Ultimate E Humanoid Robot (mobile base)
  • BrainCo Revo 2 Tactile five-finger anthropomorphic hands (pre-installed, both arms)
  • Tactile sensor arrays — fingertips and palm (pre-installed, both hands)
  • Wrist RGB camera modules (pre-installed, both arms)
  • NVIDIA Jetson Orin NX 100 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 compute module and end effector. Choose the one that matches your research goals:

Config Hand Compute Features
Ultimate A Dex1-1 V2 Orin NX 100 TOPS Entry-level parallel grippers, 7-DOF arms, high-performance AI compute, MID360 LiDAR
Ultimate B Dex3-1 (RGB) Orin NX 100 TOPS 3-finger dexterous hand with wrist RGB camera, high-performance visual manipulation
Ultimate C Dex3-1 Tactile (RGB) Orin NX 100 TOPS 3-finger hand with tactile sensors + wrist RGB camera, three-modal perception
Ultimate D BrainCo Revo 2 Basic (RGB) Orin NX 100 TOPS 5-finger anthropomorphic hand with wrist RGB camera, human-like dexterity
Ultimate E BrainCo Revo 2 Tactile (RGB) Orin NX 100 TOPS 5-finger hand with tactile sensors + wrist RGB camera, ultimate anthropomorphic tactile platform
Ultimate F LinkerBot O6 (RGB) Orin NX 100 TOPS 6-DOF dexterous hand with wrist RGB camera
Ultimate G LinkerBot O6 Tactile (RGB) Orin NX 100 TOPS 6-DOF hand with tactile sensors + wrist RGB camera, 130 N grip
Ultimate H Tendon-driven dexterous hand Orin NX 100 TOPS Advanced tendon-driven mechanism for biomimetic dexterity, compliant manipulation

* Specifications are based on manufacturer data and may vary slightly by production batch. Optional wrist cameras, tactile sensors, compute modules, and alternative end effectors sold separately.
Unitree® is a registered trademark of Unitree Robotics. Images are for reference; actual product appearance may differ.
Users must maintain a sufficient safety distance. This is a civilian robot — comply with local laws and regulations.

Description
Unitree Robotics

Unitree R1-A7-D Ultimate E

Mobile-Base Dual-Arm Humanoid Robot with BrainCo Revo 2 Tactile Five-Finger Anthropomorphic Hands, Wrist RGB Cameras, 7-DOF Arms & Onboard Orin NX 100 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. The ultimate anthropomorphic tactile manipulation platform.

Unitree R1-A7-D Ultimate E mobile-base dual-arm humanoid robot with BrainCo Revo 2 Tactile five-finger hands

R1-A7-D Ultimate E — mobile-base humanoid with 7-DOF arms, BrainCo Revo 2 Tactile five-finger hands, wrist RGB cameras, MID360 LiDAR & Orin NX 100 TOPS

20
Total DOF
7+7
Arm DOF
120
Nm Torque
~2
kg Payload
100
TOPS AI

What's in This Configuration

The R1-A7-D Ultimate E is the ultimate anthropomorphic 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 BrainCo Revo 2 Tactile five-finger anthropomorphic hands, force-sensitive fingertip and palm arrays, wrist-mounted RGB cameras, and the powerful NVIDIA Jetson Orin NX 100 TOPS compute module. With human-like joint architecture across all five fingers, full tactile feedback, and 2.5× the AI compute of the Smart series, the Ultimate E represents the pinnacle of anthropomorphic mobile manipulation research — fusing three sensing modalities across ten fingertips and two palms, all processed in real time onboard.

✓ 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.
✓ BrainCo Revo 2 Tactile Five-Finger Hands
Anthropomorphic five-finger dexterous hands with human-like joint architecture and force-sensitive tactile sensors pre-installed on both arms.
✓ Tactile Sensor Array
Force-sensitive fingertips and palm arrays pre-installed on both hands for slip detection, dynamic force modulation, and tactile exploration across all five fingers.
✓ Wrist RGB Cameras
Wrist-mounted RGB cameras pre-installed on both arms for close-up visual feedback of five-finger grasping and visual servoing.
✓ MID360 LiDAR
360° surround LiDAR integrated into the mobile chassis for real-time SLAM, obstacle avoidance, and autonomous navigation.
✓ Orin NX 100 TOPS
Built-in NVIDIA Jetson Orin NX delivering 100 TOPS for fusing vision, tactile, and five-finger control streams from both hands in real time.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, tactile, lighting. Full 5-finger joint control + tactile streaming API. Dual encoders per joint.

BrainCo Revo 2 Tactile — Five-Finger Dexterity That Feels

The BrainCo Revo 2 Tactile combines the human-like five-finger anthropomorphic architecture of the Revo 2 Basic with force-sensitive tactile sensing at every fingertip and across both palms. Each of the five fingers retains independent actuation with human-like joint placement, enabling the full taxonomy of human grasps — power grips, precision pinches, tripod grasps, lateral holds, and in-hand manipulation — while the tactile arrays measure pressure distribution, detect slip, and enable dynamic force modulation across all ten fingertips. This transforms the Revo 2 from a vision-guided anthropomorphic manipulator into a contact-aware human-like system that can handle fragile objects, explore surfaces by touch, execute force-sensitive manipulation with millisecond precision, and provide the rich tactile feedback essential for multi-modal sensorimotor learning. Pre-installed on both 7-DOF arms, the Revo 2 Tactile makes the Ultimate E the most capable anthropomorphic mobile manipulation platform available.

Unitree R1-A7-D Ultimate E with BrainCo Revo 2 Tactile five-finger hands

BrainCo Revo 2 Tactile — force-sensitive five-finger anthropomorphic dexterity for the ultimate mobile manipulation

Tactile Anthropomorphic Grasping — Feeling What You Grasp

Ultimate E unites human-like five-finger dexterity with tactile awareness at the highest level. The BrainCo Revo 2 Tactile can execute the complete taxonomy of human grasps — from enveloping power grips to delicate precision pinches — while the tactile arrays report exactly how hard and where each of the five fingers is touching. This enables force-aware anthropomorphic grasping: maintaining consistent contact force during in-hand manipulation, detecting slip across any of the five fingers before vision notices, automatically modulating grip strength for fragile or deformable objects, and recovering from perturbations by feeling rather than seeing. The multi-DOF thumb with tactile feedback enables nuanced opposition control impossible for simpler hands. The Orin NX 100 TOPS processes tactile streams from all ten fingertips and both palms alongside three visual data streams, running multi-modal five-finger control policies entirely onboard with compute headroom for concurrent LLM inference.

Tactile anthropomorphic grasping with BrainCo Revo 2 Tactile on R1-A7-D Ultimate E

Tactile sensor arrays on all ten fingertips and both palms enable force-aware five-finger manipulation

Tactile-Vision-Wrist Fusion — Three-Modal Perception for Anthropomorphic Manipulation

Ultimate E fuses three complementary sensing modalities on the Orin NX 100 TOPS: the head-mounted binocular camera provides global scene understanding, the wrist-mounted RGB cameras deliver local visual feedback of five-finger grasp execution, and the tactile arrays report real-time contact forces from all ten fingertips and both palms. This tactile-vision-wrist fusion creates an unprecedented multi-modal representation of anthropomorphic manipulation — enabling the robot to see an object, plan a human-like multi-finger grasp, execute it with visual guidance, and refine grip force and finger positions based on tactile feedback across all five digits. All three streams are timestamp-synchronised and accessible through the open tactile API, supporting cutting-edge research in cross-modal perception, sensorimotor learning with anthropomorphic hands, and adaptive control. The 100 TOPS compute budget handles all three modalities for both hands concurrently while leaving room for large vision-language models and task planning.

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.

Orin NX 100 TOPS — 2.5× AI Performance for Ultimate Manipulation

The built-in NVIDIA Jetson Orin NX delivers 100 TOPS of AI compute — a 2.5× leap over the Smart series' 40 TOPS. For the Ultimate E, this extra headroom is essential: it enables real-time processing of seven simultaneous sensor streams (head stereo + dual wrist RGB + dual tactile arrays from ten fingertips and two palms), larger vision backbones for hand pose estimation and grasp quality prediction, onboard training of tactile-vision fusion policies using reinforcement or imitation learning, and concurrent vision-language model inference for natural-language task specification. The Orin NX also accelerates dense depth estimation, visual-LiDAR fusion for navigation, and multi-object tracking — all while maintaining low-latency tactile feedback loops for all five fingers on both hands. Pre-installed and thermally integrated with the chassis cooling system, the module runs entirely onboard with no external GPU server or cloud dependency.

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

Ultimate E 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 NX 100 TOPS, this dual-modality perception stack supports research in visual-LiDAR SLAM, semantic navigation, and active perception for mobile manipulation — with enough headroom to also process dual wrist camera streams and tactile arrays from both hands concurrently.

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 five-finger grasping. Combined with the MID360 LiDAR, the R1-A7-D Ultimate E offers a complete three-modal perception stack for research in tactile-vision fusion, semantic navigation, and contact-aware anthropomorphic mobile manipulation — all processed on the 100 TOPS Orin NX.

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. The extra compute headroom of the Orin NX 100 TOPS allows running larger speech recognition and language models locally alongside multi-modal five-finger manipulation tasks.

Collapsible. Mobile. Ready to Deploy.

At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A7-D Ultimate E 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.

Unitree R1-A7-D mobile base with collapsed and elevated configurations

Collapsed (683 mm) and elevated (1323 mm) configurations for navigation and manipulation

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 Ultimate E a clean slate for reinforcement learning, multi-modal sensorimotor research, tactile-anthropomorphic fusion, embodied AI, and autonomous navigation studies. The built-in Orin NX 100 TOPS handles perception, planning, multi-modal stream processing, and large vision model inference locally without external hardware, with enough headroom for the most demanding multi-task learning scenarios.

Upgrade Path — Grow With Your Research

Ultimate E is the ultimate anthropomorphic tactile manipulation configuration. Expand capability as your research evolves:

  • End Effectors — Swap to LinkerBot O6 for high-DOF gear-driven dexterity, Dex3-1 for three-finger adaptive manipulation, or tendon-driven hands for biomimetic compliance.
  • Large VLM — Deploy vision-language models for natural-language task specification and scene understanding. The 100 TOPS Orin NX has the headroom to run the largest VLMs entirely onboard alongside tactile-vision fusion for all ten fingertips.

Designed For

Tactile Anthropomorphic Manipulation
Force-aware five-finger grasping with full human grasp taxonomy, slip detection, and dynamic grip modulation across all ten fingertips.
Multi-Modal Sensorimotor Learning
Cross-modal perception fusing vision, tactile, and proprioception from five-finger hands for embodied AI and adaptive control on 100 TOPS.
Physical Human-Robot Interaction
Safe contact-rich handover, tactile exploration with human-like fingers, and force-sensitive interaction in shared environments.
Advanced University Research
Cutting-edge research in tactile-anthropomorphic fusion, multi-modal policy learning with five fingers, and mobile sensorimotor intelligence.

Technical Specifications

Model Unitree R1-A7-D Ultimate E (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 BrainCo Revo 2 Tactile five-finger anthropomorphic hands (both arms, pre-installed)
Hand DOF 5 independently actuated fingers per hand
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 NX 100 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/tactile/lighting. Full 5-finger joint control + tactile streaming API. Dual encoders per joint.
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 Ultimate E Humanoid Robot (mobile base)
  • BrainCo Revo 2 Tactile five-finger anthropomorphic hands (pre-installed, both arms)
  • Tactile sensor arrays — fingertips and palm (pre-installed, both hands)
  • Wrist RGB camera modules (pre-installed, both arms)
  • NVIDIA Jetson Orin NX 100 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 compute module and end effector. Choose the one that matches your research goals:

Config Hand Compute Features
Ultimate A Dex1-1 V2 Orin NX 100 TOPS Entry-level parallel grippers, 7-DOF arms, high-performance AI compute, MID360 LiDAR
Ultimate B Dex3-1 (RGB) Orin NX 100 TOPS 3-finger dexterous hand with wrist RGB camera, high-performance visual manipulation
Ultimate C Dex3-1 Tactile (RGB) Orin NX 100 TOPS 3-finger hand with tactile sensors + wrist RGB camera, three-modal perception
Ultimate D BrainCo Revo 2 Basic (RGB) Orin NX 100 TOPS 5-finger anthropomorphic hand with wrist RGB camera, human-like dexterity
Ultimate E BrainCo Revo 2 Tactile (RGB) Orin NX 100 TOPS 5-finger hand with tactile sensors + wrist RGB camera, ultimate anthropomorphic tactile platform
Ultimate F LinkerBot O6 (RGB) Orin NX 100 TOPS 6-DOF dexterous hand with wrist RGB camera
Ultimate G LinkerBot O6 Tactile (RGB) Orin NX 100 TOPS 6-DOF hand with tactile sensors + wrist RGB camera, 130 N grip
Ultimate H Tendon-driven dexterous hand Orin NX 100 TOPS Advanced tendon-driven mechanism for biomimetic dexterity, compliant manipulation

* Specifications are based on manufacturer data and may vary slightly by production batch. Optional wrist cameras, tactile sensors, compute modules, and alternative end effectors sold separately.
Unitree® is a registered trademark of Unitree Robotics. Images are for reference; actual product appearance may differ.
Users must maintain a sufficient safety distance. This is a civilian robot — comply with local laws and regulations.

Unitree by Unitree

Unitree R1-A7-D Ultimate E Humanoid Robot

SKU: R1-A7-D-Ultimate-E
Regular price
$23,790.00
Sale price
$23,790.00
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

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