About
Description
Unitree Robotics
Unitree R1-A7-D Ultimate F
Mobile-Base Dual-Arm Humanoid Robot with LinkerBot O6 High-DOF Dexterous Hands, Wrist RGB Cameras, 7-DOF Arms & Onboard Orin NX 100 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. The high-DOF dexterity platform for advanced manipulation research.
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 F is the high-DOF dexterity platform for advanced manipulation 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 LinkerBot O6 high-DOF dexterous hands, wrist-mounted RGB cameras, and the powerful NVIDIA Jetson Orin NX 100 TOPS compute module. With six independently actuated degrees of freedom per hand, worm-gear transmission for precise position control, and 130 N grip force, the Ultimate F delivers research-grade dexterity for complex manipulation tasks — all powered by 2.5× the AI compute of the Smart series.
✓ 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.
✓ LinkerBot O6 High-DOF Dexterous Hands
Six-degree-of-freedom dexterous hands with independently actuated fingers and thumb, worm-gear transmission, and 130 N grip force. Pre-installed on both arms.
✓ Wrist RGB Cameras
Wrist-mounted RGB cameras pre-installed on both arms for close-up visual feedback of high-DOF 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 processing vision streams and high-DOF hand control policies in real time.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Full 6-DOF hand joint control API. Dual encoders per joint.
LinkerBot O6 — High-DOF Dexterity for Complex Manipulation
The LinkerBot O6 is a six-degree-of-freedom dexterous hand engineered for research-grade manipulation. Each hand features independently actuated fingers and thumb with a worm-gear transmission that delivers precise position control, zero-backlash holding, and an exceptional 130 N grip force. The high-DOF architecture enables complex in-hand manipulation — reorienting objects without releasing them, executing multi-finger precision grasps, and adapting finger configurations to irregular geometries. Unlike simpler parallel grippers or three-finger hands, the O6's six independent actuators unlock the full taxonomy of dexterous grasps: power grips, precision pinches, tripod grasps, lateral holds, and sophisticated in-hand manipulation sequences. Pre-installed on both 7-DOF arms, the LinkerBot O6 transforms the Ultimate F into a platform for cutting-edge research in high-DOF control, dexterous manipulation, and vision-guided precision assembly.
High-DOF Grasping — Precision, Power & In-Hand Manipulation
Ultimate F leverages the LinkerBot O6's six independent actuators to execute manipulation strategies impossible for lower-DOF end effectors. The worm-gear transmission provides self-locking torque holding — maintaining grip force without continuous power draw — while enabling sub-millimetre position repeatability for precision assembly tasks. The high-DOF architecture supports in-hand manipulation: reorienting a grasped object by coordinating finger motions without releasing contact, a capability essential for complex assembly, tool use, and dexterous exploration. With 130 N maximum grip force, the O6 securely handles heavy or slippery objects, while the independent finger control allows adaptive grasping of fragile or deformable items. Combined with the 7-DOF arm redundancy, the Ultimate F can maintain end-effector pose while reconfiguring the arm to avoid obstacles — a critical capability for cluttered-environment manipulation.
Vision-Wrist Fusion — Two-Scale Perception for High-DOF Control
Ultimate F fuses two complementary visual sensing modalities on the Orin NX 100 TOPS: the head-mounted binocular camera provides global scene understanding, object detection, and grasp pose estimation, while the wrist-mounted RGB cameras deliver close-up visual feedback of finger configurations, contact points, and grasp execution quality. This vision-wrist fusion creates a two-scale perception stack for high-DOF manipulation — enabling the robot to plan a six-finger grasp from scene-level vision, then refine finger positions and monitor contact quality through wrist-level close-ups. The 100 TOPS compute budget processes all three visual streams (head stereo + dual wrist RGB) concurrently, with headroom for running larger vision backbones for grasp quality prediction, hand pose estimation, and visual servoing loops. All streams are timestamp-synchronised and accessible through the open vision API, supporting research in visual-guided high-DOF control, active perception, and bimanual coordination.
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 High-DOF 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 F, this extra headroom unlocks real-time processing of three simultaneous visual streams (head stereo + dual wrist RGB) alongside high-DOF hand control policies, larger vision backbones for grasp pose estimation and hand configuration prediction, onboard training of visual-motor policies using reinforcement or imitation learning with six-DOF hands, 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 control loops for twelve independent finger actuators across 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 F 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 run high-DOF hand control policies 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 on both arms add close-up visual feedback for monitoring high-DOF finger configurations and grasp execution. Combined with the MID360 LiDAR, the R1-A7-D Ultimate F offers a complete multi-camera perception stack for research in vision-guided high-DOF manipulation, active perception, and bimanual coordination — 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 high-DOF manipulation tasks.
Collapsible. Mobile. Ready to Deploy.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A7-D Ultimate F 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 Ultimate F a clean slate for reinforcement learning, high-DOF dexterous manipulation research, vision-wrist fusion, embodied AI, and autonomous navigation studies. The built-in Orin NX 100 TOPS handles perception, planning, multi-camera stream processing, and large vision model inference locally without external hardware, with enough headroom for the most demanding multi-task learning scenarios with six-DOF hands.
Upgrade Path — Grow With Your Research
Ultimate F is a high-performance high-DOF manipulation platform. Expand capability as your research evolves:
- Tactile Sensing — Add force-sensitive fingertip and palm arrays to transform the O6 into a contact-aware manipulator with slip detection and dynamic force modulation.
- End Effectors — Swap to Dex1-1 V2 for simple parallel gripping, Dex3-1 for three-finger adaptive manipulation, BrainCo Revo 2 for anthropomorphic dexterity, 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 high-DOF hand control.
Designed For
High-DOF Dexterous Manipulation
Research on six-DOF hand control, in-hand manipulation, precision assembly, and adaptive multi-finger grasping with 130 N grip force.
Vision-Guided Manipulation
Visual servoing, grasp pose estimation, and hand configuration prediction using scene-level and wrist-level cameras on 100 TOPS.
Bimanual Coordination
Dual-arm manipulation research with twelve independent finger actuators, coordinated grasping, and dual-hand object reorientation.
Embodied AI & Imitation Learning
Learning complex manipulation policies from human demonstrations with high-DOF hands, processed onboard with compute headroom for large models.
Active Perception
Mobile manipulation with active camera positioning, viewpoint planning for grasp verification, and multi-modal sensor fusion research.
Advanced University Research
Cutting-edge research in high-DOF control, dexterous robotics, and mobile sensorimotor intelligence with full open-source APIs.
Technical Specifications
What's in the Box
- Unitree R1-A7-D Ultimate F Humanoid Robot (mobile base)
- LinkerBot O6 high-DOF dexterous hands (pre-installed, both arms)
- 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:
* 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 F
Mobile-Base Dual-Arm Humanoid Robot with LinkerBot O6 High-DOF Dexterous Hands, Wrist RGB Cameras, 7-DOF Arms & Onboard Orin NX 100 TOPS. 20 DOF, 7-DOF Arms, MID360 LiDAR. The high-DOF dexterity platform for advanced manipulation research.
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 F is the high-DOF dexterity platform for advanced manipulation 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 LinkerBot O6 high-DOF dexterous hands, wrist-mounted RGB cameras, and the powerful NVIDIA Jetson Orin NX 100 TOPS compute module. With six independently actuated degrees of freedom per hand, worm-gear transmission for precise position control, and 130 N grip force, the Ultimate F delivers research-grade dexterity for complex manipulation tasks — all powered by 2.5× the AI compute of the Smart series.
✓ 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.
✓ LinkerBot O6 High-DOF Dexterous Hands
Six-degree-of-freedom dexterous hands with independently actuated fingers and thumb, worm-gear transmission, and 130 N grip force. Pre-installed on both arms.
✓ Wrist RGB Cameras
Wrist-mounted RGB cameras pre-installed on both arms for close-up visual feedback of high-DOF 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 processing vision streams and high-DOF hand control policies in real time.
✓ Full-Stack Open SDK
Linux framework, ROS 2 native, open APIs for arms, base, audio, vision, lighting. Full 6-DOF hand joint control API. Dual encoders per joint.
LinkerBot O6 — High-DOF Dexterity for Complex Manipulation
The LinkerBot O6 is a six-degree-of-freedom dexterous hand engineered for research-grade manipulation. Each hand features independently actuated fingers and thumb with a worm-gear transmission that delivers precise position control, zero-backlash holding, and an exceptional 130 N grip force. The high-DOF architecture enables complex in-hand manipulation — reorienting objects without releasing them, executing multi-finger precision grasps, and adapting finger configurations to irregular geometries. Unlike simpler parallel grippers or three-finger hands, the O6's six independent actuators unlock the full taxonomy of dexterous grasps: power grips, precision pinches, tripod grasps, lateral holds, and sophisticated in-hand manipulation sequences. Pre-installed on both 7-DOF arms, the LinkerBot O6 transforms the Ultimate F into a platform for cutting-edge research in high-DOF control, dexterous manipulation, and vision-guided precision assembly.
High-DOF Grasping — Precision, Power & In-Hand Manipulation
Ultimate F leverages the LinkerBot O6's six independent actuators to execute manipulation strategies impossible for lower-DOF end effectors. The worm-gear transmission provides self-locking torque holding — maintaining grip force without continuous power draw — while enabling sub-millimetre position repeatability for precision assembly tasks. The high-DOF architecture supports in-hand manipulation: reorienting a grasped object by coordinating finger motions without releasing contact, a capability essential for complex assembly, tool use, and dexterous exploration. With 130 N maximum grip force, the O6 securely handles heavy or slippery objects, while the independent finger control allows adaptive grasping of fragile or deformable items. Combined with the 7-DOF arm redundancy, the Ultimate F can maintain end-effector pose while reconfiguring the arm to avoid obstacles — a critical capability for cluttered-environment manipulation.
Vision-Wrist Fusion — Two-Scale Perception for High-DOF Control
Ultimate F fuses two complementary visual sensing modalities on the Orin NX 100 TOPS: the head-mounted binocular camera provides global scene understanding, object detection, and grasp pose estimation, while the wrist-mounted RGB cameras deliver close-up visual feedback of finger configurations, contact points, and grasp execution quality. This vision-wrist fusion creates a two-scale perception stack for high-DOF manipulation — enabling the robot to plan a six-finger grasp from scene-level vision, then refine finger positions and monitor contact quality through wrist-level close-ups. The 100 TOPS compute budget processes all three visual streams (head stereo + dual wrist RGB) concurrently, with headroom for running larger vision backbones for grasp quality prediction, hand pose estimation, and visual servoing loops. All streams are timestamp-synchronised and accessible through the open vision API, supporting research in visual-guided high-DOF control, active perception, and bimanual coordination.
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 High-DOF 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 F, this extra headroom unlocks real-time processing of three simultaneous visual streams (head stereo + dual wrist RGB) alongside high-DOF hand control policies, larger vision backbones for grasp pose estimation and hand configuration prediction, onboard training of visual-motor policies using reinforcement or imitation learning with six-DOF hands, 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 control loops for twelve independent finger actuators across 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 F 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 run high-DOF hand control policies 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 on both arms add close-up visual feedback for monitoring high-DOF finger configurations and grasp execution. Combined with the MID360 LiDAR, the R1-A7-D Ultimate F offers a complete multi-camera perception stack for research in vision-guided high-DOF manipulation, active perception, and bimanual coordination — 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 high-DOF manipulation tasks.
Collapsible. Mobile. Ready to Deploy.
At 683 × 520 × 440 mm collapsed (1323 mm elevated), the R1-A7-D Ultimate F 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 Ultimate F a clean slate for reinforcement learning, high-DOF dexterous manipulation research, vision-wrist fusion, embodied AI, and autonomous navigation studies. The built-in Orin NX 100 TOPS handles perception, planning, multi-camera stream processing, and large vision model inference locally without external hardware, with enough headroom for the most demanding multi-task learning scenarios with six-DOF hands.
Upgrade Path — Grow With Your Research
Ultimate F is a high-performance high-DOF manipulation platform. Expand capability as your research evolves:
- Tactile Sensing — Add force-sensitive fingertip and palm arrays to transform the O6 into a contact-aware manipulator with slip detection and dynamic force modulation.
- End Effectors — Swap to Dex1-1 V2 for simple parallel gripping, Dex3-1 for three-finger adaptive manipulation, BrainCo Revo 2 for anthropomorphic dexterity, 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 high-DOF hand control.
Designed For
High-DOF Dexterous Manipulation
Research on six-DOF hand control, in-hand manipulation, precision assembly, and adaptive multi-finger grasping with 130 N grip force.
Vision-Guided Manipulation
Visual servoing, grasp pose estimation, and hand configuration prediction using scene-level and wrist-level cameras on 100 TOPS.
Bimanual Coordination
Dual-arm manipulation research with twelve independent finger actuators, coordinated grasping, and dual-hand object reorientation.
Embodied AI & Imitation Learning
Learning complex manipulation policies from human demonstrations with high-DOF hands, processed onboard with compute headroom for large models.
Active Perception
Mobile manipulation with active camera positioning, viewpoint planning for grasp verification, and multi-modal sensor fusion research.
Advanced University Research
Cutting-edge research in high-DOF control, dexterous robotics, and mobile sensorimotor intelligence with full open-source APIs.
Technical Specifications
What's in the Box
- Unitree R1-A7-D Ultimate F Humanoid Robot (mobile base)
- LinkerBot O6 high-DOF dexterous hands (pre-installed, both arms)
- 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:
* 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 F Humanoid Robot Silver
SKU:
R1-A7-D-Ultimate-F
- Regular price
- $14,790.00
- Sale price
- $14,790.00
- 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
