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Home/ Store/ Humanoid/ Unitree R1-A7 Dual-Arm Humanoid Robot

Unitree R1-A7 Dual-Arm Humanoid Robot

The Unitree R1-A7 is the seven-axis-per-arm member of the dual-arm range, trading the R1-A5s simpler arms for the extra redundancy that complex manipulation needs. A wheeled R1-A7-D variant is also available.

Configurations from
$8,200 – $36,100
26 configurations · compare them
Request a free demo Get a quote

Purchase · Lease

Unitree R1-A7 Dual-Arm Humanoid Robot — Unitree
Manufacturer
Unitree
Capability
Humanoid Robots
Support
US sales, setup & service
Overview

What is the Unitree R1-A7 Dual-Arm Humanoid Robot?

The Unitree R1-A7 is the seven-axis-per-arm member of the dual-arm range, trading the R1-A5s simpler arms for the extra redundancy that complex manipulation needs. A wheeled R1-A7-D variant is also available.

As with the R1-A5, configurations pair the same torso with a choice of dexterous hand and compute module.

RobotLAB supplies the full Unitree humanoid range in the United States, with 26 R1-A7 configurations currently listed, from $8,200 to $36,100. Every configuration below is quoted, supported and serviced from the US.

Specifications

Key specs

Height, Width and ThicknessCollapsed dimensions: 683x520x44 mm, where 683 is the distance from the top of the unit to the bottom of the chassis wheels, 520 is the chassis width, and 440 is the chassis depth
Elevated dimensions1323x520x440 mm, where 1323 is the distance from the top of the head to the bottom of the chassis wheels, 520 is the chassis width, and 440 is the chassis thickness
Weight (With Battery)About 32 kg
Total Degrees of Freedom (Joint Freedom）20 (7 single arms × 2 + 1 waist + 2 heads + 1 pillar + 2 bases = 20)
Common SepcJoint Output Bearings: Crossed-roller + Double-row ball
Joint MotorLow-inertia, high-speed, inner-rotor permanent magnet synchronous motor (better response speed and heat dissipation)
Maximum Arm PayloadApprox. 2 kg
Forearm + Upper Arm Length555 mm
Waist JointY: ±150°
Head JointY: ±115° P: ±36°
CablingHollow + Internal
Joint EncodersDual + Single
Cooling SystemLocalized Air Cooling
Body8-core high-performance CPU
Head8-core high-performance CPU + 10 TOPS computing power
Wi-Fi 6, Bluetooth 5.2Yes
Rear port power supplyYes
Smart OTA updatesSupported
High Computing Power ModuleDoes not include a compute expansion module; optional 40 or 100 TOPS compute expansion modules are available
Power SupplyThe R1-A-D chassis comes standard with a removable battery and external power supply. Please note that the upper body of this model does not accept a battery
Sensing sensorsMID360 LiDAR + Stereo Camera on head
Battery LifeApproximately 1.5 hours (when powered by the removable lithium-ion battery in the chassis)
How it works

Unitree R1-A7 Dual-Arm Humanoid Robot in detail

Choosing a configuration

The table below is the honest version of the spec sheet: it shows only what actually differs between configurations, so you can see what the extra money buys. Shared platform specifications are listed separately — they apply to every unit in the range.

Typical buyers are manipulation research groups needing redundant-arm kinematics. If you are not sure which build fits your work, ask us: we configure these for US customers every week and will tell you when a cheaper configuration does the job.

See the rest of the range on our humanoid robots page, or browse everything we carry from Unitree.

Most configurations differ only by the hand fitted. If you want to compare end effectors on their own, see Unitree humanoid hands and grippers.

Configurations

Which Unitree R1-A7 Dual-Arm Humanoid Robot is right for you?

Every configuration below is the same core platform. They differ in compute, degrees of freedom and end effectors — from $8,200 to $36,100.

R1-A7

R1-A7

R1-A7

Programmable R1-A7 with no hands fitted.

End effector
None fitted

Choose any compatible hand as an option, or pick an edition that has them fitted.

What this means
Why it matters
The arms end at the wrist. That suits walking, balance and presence, but the robot cannot pick things up.
See which hands fit →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
No user compute module included. A compute module is available as an option.
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Fixed upper body, about 13 kg, external power supply included. An optional battery gives about 1.5 hours.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • Stereo camera on the head.
$8,200 Get a quote
R1-A7 Smart A

R1-A7 Smart A

R1-A7 Smart A

Programmable R1-A7 with a pair of Dex1-1 V2 grippers.

End effector
Pair of Dex1-1 V2 grippers

The same strong gripper plus a wrist camera, so the robot can see what it is about to grab.

Full hand specs and what they mean
Type
Two-finger gripper
Motion
1 DoF per hand. One motor opens and closes both fingers.
Force
Adjustable 5 to 120 N
Load
20 kg form-fit (horizontal), 5 kg by friction (vertical)
Grip range
90 mm opening
Speed
Closes fully in 0.24 s
Touch
None
Precision
0.1 mm position resolution at the fingertip
Wrist camera
RGB wrist camera with mount. A D405 bracket is included, the D405 camera is not.
Weight
550 g
Size
143 × 78 × 67 mm
Drive
Motor-driven parallel gripper
Control
Angle, velocity, torque, stiffness and damping
Interface
High-speed RS-485, 1000 Hz (RS-485 to USB board included)
Software
Unitree DDS service; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Vision-guided pick and place and low-cost data collection.
Keep in mind
Cannot use tools made for human fingers.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • Fixed upper body, about 13 kg, external power supply included. An optional battery gives about 1.5 hours.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • Stereo camera on the head.
$10,700 Get a quote
R1-A7 Smart H

R1-A7 Smart H

R1-A7 Smart H

Programmable R1-A7 with a pair of five-finger tendon-driven hands.

End effector
Pair of five-finger tendon-driven hands

Looks like a human hand and closes around objects, but moves as a unit. It cannot move each finger on its own.

Full hand specs and what they mean
Type
Five-finger tendon-driven hand
Motion
2 DoF per hand. 2 motors drive 10 joints: the four fingers share one motor, the thumb has the other.
Force
10 to 15 N at the fingertip
Load
1.5 kg
Smallest grip
8 mm
Touch
None
Wrist camera
Not included
Weight
365 g
Size
151 × 70 × 63 mm
Drive
Gear and tendon
Control
Joint position, velocity, torque, stiffness and damping
Interface
RS-485, 1000 Hz, no external wiring between hand and robot
Software
URDF model available
Best for
A human look for shows and presence, and simple light grasps, at low cost.
Keep in mind
No finger-by-finger control, no touch sensing, no camera. Not for manipulation research.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • Fixed upper body, about 13 kg, external power supply included. An optional battery gives about 1.5 hours.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • Stereo camera on the head.
$12,600 Get a quote
R1-A7 Smart F

R1-A7 Smart F

R1-A7 Smart F

Programmable R1-A7 with a pair of LinkerBot O6 five-finger hands.

End effector
Pair of LinkerBot O6 five-finger hands

An affordable five-finger hand. Each finger closes on its own, and the thumb has two motors so it can move across the palm.

Full hand specs and what they mean
Type
Five-finger hand
Motion
6 DoF per hand. 6 motors drive 11 joints: 6 active and 5 passive that follow.
Force
70 N whole hand; 20 N thumb, 25 N fingers at the fingertip
Touch
None
Repeatability
Under ±0.20 mm
Wrist camera
RGB wrist camera, 160° field of view, with mount
Weight
About 370 g
Drive
Rigid linkage with worm gear
Control
Force-position hybrid
Interface
CAN or RS-485
Software
ROS, ROS 2 and Python SDKs from LinkerBot
Best for
Natural five-finger grasps on an R1 on a limited budget.
Keep in mind
R1 family only. No touch sensing on this version.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • Fixed upper body, about 13 kg, external power supply included. An optional battery gives about 1.5 hours.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • Stereo camera on the head.
$12,800 Get a quote
R1-A7 Smart G

R1-A7 Smart G

R1-A7 Smart G

Programmable R1-A7 with a pair of LinkerBot O6 hands with touch sensing.

End effector
Pair of LinkerBot O6 hands with touch sensing

The Linker O6 with touch sensing added, so software can tell when and how firmly it is touching something.

Full hand specs and what they mean
Type
Five-finger hand with touch sensing
Motion
6 DoF per hand. 6 motors drive 11 joints: 6 active and 5 passive that follow.
Force
70 N whole hand; 20 N thumb, 25 N fingers at the fingertip
Touch
Touch sensing included
Repeatability
Under ±0.20 mm
Wrist camera
RGB wrist camera, 160° field of view, with mount
Weight
About 370 g
Drive
Rigid linkage with worm gear
Control
Force-position hybrid
Interface
CAN or RS-485
Software
ROS, ROS 2 and Python SDKs from LinkerBot
Best for
An affordable way to get a five-finger hand with touch.
Keep in mind
R1 family only.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • Fixed upper body, about 13 kg, external power supply included. An optional battery gives about 1.5 hours.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • Stereo camera on the head.
$13,200 Get a quote
R1-A7-D

R1-A7-D

D

Programmable R1-A7-D with no hands fitted.

End effector
None fitted

Choose any compatible hand as an option, or pick an edition that has them fitted.

What this means
Why it matters
The arms end at the wrist. That suits walking, balance and presence, but the robot cannot pick things up.
See which hands fit →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
No user compute module included. A compute module is available as an option.
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$14,000 Get a quote
R1-A7-D Smart A

R1-A7-D Smart A

D Smart A

Programmable R1-A7-D with a pair of Dex1-1 V2 grippers.

End effector
Pair of Dex1-1 V2 grippers

The same strong gripper plus a wrist camera, so the robot can see what it is about to grab.

Full hand specs and what they mean
Type
Two-finger gripper
Motion
1 DoF per hand. One motor opens and closes both fingers.
Force
Adjustable 5 to 120 N
Load
20 kg form-fit (horizontal), 5 kg by friction (vertical)
Grip range
90 mm opening
Speed
Closes fully in 0.24 s
Touch
None
Precision
0.1 mm position resolution at the fingertip
Wrist camera
RGB wrist camera with mount. A D405 bracket is included, the D405 camera is not.
Weight
550 g
Size
143 × 78 × 67 mm
Drive
Motor-driven parallel gripper
Control
Angle, velocity, torque, stiffness and damping
Interface
High-speed RS-485, 1000 Hz (RS-485 to USB board included)
Software
Unitree DDS service; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Vision-guided pick and place and low-cost data collection.
Keep in mind
Cannot use tools made for human fingers.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$16,600 Get a quote
R1-A7-D Smart H

R1-A7-D Smart H

D Smart H

Programmable R1-A7-D with a pair of five-finger tendon-driven hands.

End effector
Pair of five-finger tendon-driven hands

Looks like a human hand and closes around objects, but moves as a unit. It cannot move each finger on its own.

Full hand specs and what they mean
Type
Five-finger tendon-driven hand
Motion
2 DoF per hand. 2 motors drive 10 joints: the four fingers share one motor, the thumb has the other.
Force
10 to 15 N at the fingertip
Load
1.5 kg
Smallest grip
8 mm
Touch
None
Wrist camera
Not included
Weight
365 g
Size
151 × 70 × 63 mm
Drive
Gear and tendon
Control
Joint position, velocity, torque, stiffness and damping
Interface
RS-485, 1000 Hz, no external wiring between hand and robot
Software
URDF model available
Best for
A human look for shows and presence, and simple light grasps, at low cost.
Keep in mind
No finger-by-finger control, no touch sensing, no camera. Not for manipulation research.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$18,500 Get a quote
R1-A7-D Smart F

R1-A7-D Smart F

D Smart F

Programmable R1-A7-D with a pair of LinkerBot O6 five-finger hands.

End effector
Pair of LinkerBot O6 five-finger hands

An affordable five-finger hand. Each finger closes on its own, and the thumb has two motors so it can move across the palm.

Full hand specs and what they mean
Type
Five-finger hand
Motion
6 DoF per hand. 6 motors drive 11 joints: 6 active and 5 passive that follow.
Force
70 N whole hand; 20 N thumb, 25 N fingers at the fingertip
Touch
None
Repeatability
Under ±0.20 mm
Wrist camera
RGB wrist camera, 160° field of view, with mount
Weight
About 370 g
Drive
Rigid linkage with worm gear
Control
Force-position hybrid
Interface
CAN or RS-485
Software
ROS, ROS 2 and Python SDKs from LinkerBot
Best for
Natural five-finger grasps on an R1 on a limited budget.
Keep in mind
R1 family only. No touch sensing on this version.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$18,700 Get a quote
R1-A7-D Smart G

R1-A7-D Smart G

D Smart G

Programmable R1-A7-D with a pair of LinkerBot O6 hands with touch sensing.

End effector
Pair of LinkerBot O6 hands with touch sensing

The Linker O6 with touch sensing added, so software can tell when and how firmly it is touching something.

Full hand specs and what they mean
Type
Five-finger hand with touch sensing
Motion
6 DoF per hand. 6 motors drive 11 joints: 6 active and 5 passive that follow.
Force
70 N whole hand; 20 N thumb, 25 N fingers at the fingertip
Touch
Touch sensing included
Repeatability
Under ±0.20 mm
Wrist camera
RGB wrist camera, 160° field of view, with mount
Weight
About 370 g
Drive
Rigid linkage with worm gear
Control
Force-position hybrid
Interface
CAN or RS-485
Software
ROS, ROS 2 and Python SDKs from LinkerBot
Best for
An affordable way to get a five-finger hand with touch.
Keep in mind
R1 family only.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$19,100 Get a quote
R1-A7-D Ultimate A

R1-A7-D Ultimate A

D Ultimate A

Programmable R1-A7-D with a pair of Dex1-1 V2 grippers.

End effector
Pair of Dex1-1 V2 grippers

The same strong gripper plus a wrist camera, so the robot can see what it is about to grab.

Full hand specs and what they mean
Type
Two-finger gripper
Motion
1 DoF per hand. One motor opens and closes both fingers.
Force
Adjustable 5 to 120 N
Load
20 kg form-fit (horizontal), 5 kg by friction (vertical)
Grip range
90 mm opening
Speed
Closes fully in 0.24 s
Touch
None
Precision
0.1 mm position resolution at the fingertip
Wrist camera
RGB wrist camera with mount. A D405 bracket is included, the D405 camera is not.
Weight
550 g
Size
143 × 78 × 67 mm
Drive
Motor-driven parallel gripper
Control
Angle, velocity, torque, stiffness and damping
Interface
High-speed RS-485, 1000 Hz (RS-485 to USB board included)
Software
Unitree DDS service; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Vision-guided pick and place and low-cost data collection.
Keep in mind
Cannot use tools made for human fingers.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin NX, 100 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin NX, 100 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$19,700 Get a quote
R1-A7 Smart D

R1-A7 Smart D

R1-A7 Smart D

Programmable R1-A7 with a pair of BrainCo Revo 2 five-finger hands.

End effector
Pair of BrainCo Revo 2 five-finger hands

A light, natural-looking five-finger hand. Each finger closes on its own and the thumb has two motors.

Full hand specs and what they mean
Type
Five-finger hand
Motion
6 DoF per hand. 6 motors drive 11 joints.
Force
50 N whole hand, 15 N pinch
Load
20 kg or more
Grip range
100 mm opening
Touch
None
Repeatability
0.1° at the joint
Wrist camera
RGB wrist camera, with mount
Weight
383 g
Size
160 mm tall, fingertip to palm base
Control
Position, speed and current
Interface
RS-485 or CAN FD
Software
BrainCo Python and C SDK, ROS 2 and MoveIt; supported by Unitree's xr_teleoperate
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Everyday objects like cups and handles on any Unitree humanoid.
Keep in mind
No touch sensing on this version. The fingers open during power-on calibration, so never power up while holding an object.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • Fixed upper body, about 13 kg, external power supply included. An optional battery gives about 1.5 hours.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • Stereo camera on the head.
$20,200 Get a quote
R1-A7-D Ultimate H

R1-A7-D Ultimate H

D Ultimate H

Programmable R1-A7-D with a pair of five-finger tendon-driven hands.

End effector
Pair of five-finger tendon-driven hands

Looks like a human hand and closes around objects, but moves as a unit. It cannot move each finger on its own.

Full hand specs and what they mean
Type
Five-finger tendon-driven hand
Motion
2 DoF per hand. 2 motors drive 10 joints: the four fingers share one motor, the thumb has the other.
Force
10 to 15 N at the fingertip
Load
1.5 kg
Smallest grip
8 mm
Touch
None
Wrist camera
Not included
Weight
365 g
Size
151 × 70 × 63 mm
Drive
Gear and tendon
Control
Joint position, velocity, torque, stiffness and damping
Interface
RS-485, 1000 Hz, no external wiring between hand and robot
Software
URDF model available
Best for
A human look for shows and presence, and simple light grasps, at low cost.
Keep in mind
No finger-by-finger control, no touch sensing, no camera. Not for manipulation research.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin NX, 100 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin NX, 100 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$21,600 Get a quote
R1-A7-D Ultimate F

R1-A7-D Ultimate F

D Ultimate F

Programmable R1-A7-D with a pair of LinkerBot O6 five-finger hands.

End effector
Pair of LinkerBot O6 five-finger hands

An affordable five-finger hand. Each finger closes on its own, and the thumb has two motors so it can move across the palm.

Full hand specs and what they mean
Type
Five-finger hand
Motion
6 DoF per hand. 6 motors drive 11 joints: 6 active and 5 passive that follow.
Force
70 N whole hand; 20 N thumb, 25 N fingers at the fingertip
Touch
None
Repeatability
Under ±0.20 mm
Wrist camera
RGB wrist camera, 160° field of view, with mount
Weight
About 370 g
Drive
Rigid linkage with worm gear
Control
Force-position hybrid
Interface
CAN or RS-485
Software
ROS, ROS 2 and Python SDKs from LinkerBot
Best for
Natural five-finger grasps on an R1 on a limited budget.
Keep in mind
R1 family only. No touch sensing on this version.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin NX, 100 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin NX, 100 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$21,800 Get a quote
R1-A7-D Ultimate G

R1-A7-D Ultimate G

D Ultimate G

Programmable R1-A7-D with a pair of LinkerBot O6 hands with touch sensing.

End effector
Pair of LinkerBot O6 hands with touch sensing

The Linker O6 with touch sensing added, so software can tell when and how firmly it is touching something.

Full hand specs and what they mean
Type
Five-finger hand with touch sensing
Motion
6 DoF per hand. 6 motors drive 11 joints: 6 active and 5 passive that follow.
Force
70 N whole hand; 20 N thumb, 25 N fingers at the fingertip
Touch
Touch sensing included
Repeatability
Under ±0.20 mm
Wrist camera
RGB wrist camera, 160° field of view, with mount
Weight
About 370 g
Drive
Rigid linkage with worm gear
Control
Force-position hybrid
Interface
CAN or RS-485
Software
ROS, ROS 2 and Python SDKs from LinkerBot
Best for
An affordable way to get a five-finger hand with touch.
Keep in mind
R1 family only.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin NX, 100 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin NX, 100 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$22,200 Get a quote
R1-A7 Smart B

R1-A7 Smart B

R1-A7 Smart B

Programmable R1-A7 with a pair of Dex3-1 three-finger hands.

End effector
Pair of Dex3-1 three-finger hands

Three fingers with a motor at every joint, and force control. It has more independent motion than the five-finger six-motor hands, but fewer fingers.

Full hand specs and what they mean
Type
Three-finger force-controlled hand
Motion
7 DoF per hand. 7 motors: thumb 3, index 2, middle 2. Every joint is driven.
Load
500 g
Touch
None
Repeatability
±2 mm at the fingertip
Wrist camera
RGB wrist camera with mount
Weight
650 to 710 g (Unitree publishes both)
Size
175 × 88 × 77 mm
Drive
6 direct-drive joints and 1 geared joint
Control
Force-position hybrid
Interface
USB 2.0, 1000 Hz
Software
Unitree SDK; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Manipulation research and teleoperation on the G1, G1-D, H2 and R1.
Keep in mind
Three fingers look less human and cannot use every tool made for a five-finger hand.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • Fixed upper body, about 13 kg, external power supply included. An optional battery gives about 1.5 hours.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • Stereo camera on the head.
$24,100 Get a quote
R1-A7 Smart E

R1-A7 Smart E

R1-A7 Smart E

Programmable R1-A7 with a pair of BrainCo Revo 2 hands with touch sensing.

End effector
Pair of BrainCo Revo 2 hands with touch sensing

The Revo 2 with touch sensing that reports pressure, friction, direction and when an object is close.

Full hand specs and what they mean
Type
Five-finger hand with touch sensing
Motion
6 DoF per hand. 6 motors drive 11 joints.
Force
50 N whole hand, 15 N pinch
Load
20 kg or more
Grip range
100 mm opening
Touch
Pressure, friction, direction and proximity at the fingertips
Repeatability
0.1° at the joint
Wrist camera
RGB wrist camera, with mount
Weight
383 g
Size
160 mm tall, fingertip to palm base
Control
Position, speed and current
Interface
RS-485 or CAN FD
Software
BrainCo Python and C SDK, ROS 2 and MoveIt; supported by Unitree's xr_teleoperate
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Handling fragile objects, and recording touch data to train AI.
Keep in mind
Each finger closes as one unit, so it is not built for rolling objects within the fingers. The fingers open during power-on calibration.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • Fixed upper body, about 13 kg, external power supply included. An optional battery gives about 1.5 hours.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • Stereo camera on the head.
$26,000 Get a quote
R1-A7-D Smart D

R1-A7-D Smart D

D Smart D

Programmable R1-A7-D with a pair of BrainCo Revo 2 five-finger hands.

End effector
Pair of BrainCo Revo 2 five-finger hands

A light, natural-looking five-finger hand. Each finger closes on its own and the thumb has two motors.

Full hand specs and what they mean
Type
Five-finger hand
Motion
6 DoF per hand. 6 motors drive 11 joints.
Force
50 N whole hand, 15 N pinch
Load
20 kg or more
Grip range
100 mm opening
Touch
None
Repeatability
0.1° at the joint
Wrist camera
RGB wrist camera, with mount
Weight
383 g
Size
160 mm tall, fingertip to palm base
Control
Position, speed and current
Interface
RS-485 or CAN FD
Software
BrainCo Python and C SDK, ROS 2 and MoveIt; supported by Unitree's xr_teleoperate
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Everyday objects like cups and handles on any Unitree humanoid.
Keep in mind
No touch sensing on this version. The fingers open during power-on calibration, so never power up while holding an object.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$26,000 Get a quote
R1-A7 Smart C

R1-A7 Smart C

R1-A7 Smart C

Programmable R1-A7 with a pair of Dex3-1 three-finger hands with touch sensing.

End effector
Pair of Dex3-1 three-finger hands with touch sensing

The Dex3-1 with 33 touch sensors, so the robot can feel contact and how hard it is pressing.

Full hand specs and what they mean
Type
Three-finger force-controlled hand with touch sensing
Motion
7 DoF per hand. 7 motors: thumb 3, index 2, middle 2. Every joint is driven.
Load
500 g
Touch
33 tactile sensors, sensing 10 g to 2.5 kg
Repeatability
±2 mm at the fingertip
Wrist camera
RGB wrist camera with mount
Weight
650 to 710 g (Unitree publishes both)
Size
175 × 88 × 77 mm
Drive
6 direct-drive joints and 1 geared joint
Control
Force-position hybrid
Interface
USB 2.0, 1000 Hz
Software
Unitree SDK; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Learning from touch, and handling delicate objects, in manipulation research.
Keep in mind
Three fingers look less human and cannot use every tool made for a five-finger hand.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • Fixed upper body, about 13 kg, external power supply included. An optional battery gives about 1.5 hours.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • Stereo camera on the head.
$27,100 Get a quote
R1-A7-D Ultimate D

R1-A7-D Ultimate D

D Ultimate D

Programmable R1-A7-D with a pair of BrainCo Revo 2 five-finger hands.

End effector
Pair of BrainCo Revo 2 five-finger hands

A light, natural-looking five-finger hand. Each finger closes on its own and the thumb has two motors.

Full hand specs and what they mean
Type
Five-finger hand
Motion
6 DoF per hand. 6 motors drive 11 joints.
Force
50 N whole hand, 15 N pinch
Load
20 kg or more
Grip range
100 mm opening
Touch
None
Repeatability
0.1° at the joint
Wrist camera
RGB wrist camera, with mount
Weight
383 g
Size
160 mm tall, fingertip to palm base
Control
Position, speed and current
Interface
RS-485 or CAN FD
Software
BrainCo Python and C SDK, ROS 2 and MoveIt; supported by Unitree's xr_teleoperate
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Everyday objects like cups and handles on any Unitree humanoid.
Keep in mind
No touch sensing on this version. The fingers open during power-on calibration, so never power up while holding an object.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin NX, 100 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin NX, 100 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$29,100 Get a quote
R1-A7-D Smart B

R1-A7-D Smart B

D Smart B

Programmable R1-A7-D with a pair of Dex3-1 three-finger hands.

End effector
Pair of Dex3-1 three-finger hands

Three fingers with a motor at every joint, and force control. It has more independent motion than the five-finger six-motor hands, but fewer fingers.

Full hand specs and what they mean
Type
Three-finger force-controlled hand
Motion
7 DoF per hand. 7 motors: thumb 3, index 2, middle 2. Every joint is driven.
Load
500 g
Touch
None
Repeatability
±2 mm at the fingertip
Wrist camera
RGB wrist camera with mount
Weight
650 to 710 g (Unitree publishes both)
Size
175 × 88 × 77 mm
Drive
6 direct-drive joints and 1 geared joint
Control
Force-position hybrid
Interface
USB 2.0, 1000 Hz
Software
Unitree SDK; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Manipulation research and teleoperation on the G1, G1-D, H2 and R1.
Keep in mind
Three fingers look less human and cannot use every tool made for a five-finger hand.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$30,000 Get a quote
R1-A7-D Smart E

R1-A7-D Smart E

D Smart E

Programmable R1-A7-D with a pair of BrainCo Revo 2 hands with touch sensing.

End effector
Pair of BrainCo Revo 2 hands with touch sensing

The Revo 2 with touch sensing that reports pressure, friction, direction and when an object is close.

Full hand specs and what they mean
Type
Five-finger hand with touch sensing
Motion
6 DoF per hand. 6 motors drive 11 joints.
Force
50 N whole hand, 15 N pinch
Load
20 kg or more
Grip range
100 mm opening
Touch
Pressure, friction, direction and proximity at the fingertips
Repeatability
0.1° at the joint
Wrist camera
RGB wrist camera, with mount
Weight
383 g
Size
160 mm tall, fingertip to palm base
Control
Position, speed and current
Interface
RS-485 or CAN FD
Software
BrainCo Python and C SDK, ROS 2 and MoveIt; supported by Unitree's xr_teleoperate
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Handling fragile objects, and recording touch data to train AI.
Keep in mind
Each finger closes as one unit, so it is not built for rolling objects within the fingers. The fingers open during power-on calibration.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$31,900 Get a quote
R1-A7-D Smart C

R1-A7-D Smart C

D Smart C

Programmable R1-A7-D with a pair of Dex3-1 three-finger hands with touch sensing.

End effector
Pair of Dex3-1 three-finger hands with touch sensing

The Dex3-1 with 33 touch sensors, so the robot can feel contact and how hard it is pressing.

Full hand specs and what they mean
Type
Three-finger force-controlled hand with touch sensing
Motion
7 DoF per hand. 7 motors: thumb 3, index 2, middle 2. Every joint is driven.
Load
500 g
Touch
33 tactile sensors, sensing 10 g to 2.5 kg
Repeatability
±2 mm at the fingertip
Wrist camera
RGB wrist camera with mount
Weight
650 to 710 g (Unitree publishes both)
Size
175 × 88 × 77 mm
Drive
6 direct-drive joints and 1 geared joint
Control
Force-position hybrid
Interface
USB 2.0, 1000 Hz
Software
Unitree SDK; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Learning from touch, and handling delicate objects, in manipulation research.
Keep in mind
Three fingers look less human and cannot use every tool made for a five-finger hand.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin Nano, 40 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin Nano, 40 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$33,000 Get a quote
R1-A7-D Ultimate B

R1-A7-D Ultimate B

D Ultimate B

Programmable R1-A7-D with a pair of Dex3-1 three-finger hands.

End effector
Pair of Dex3-1 three-finger hands

Three fingers with a motor at every joint, and force control. It has more independent motion than the five-finger six-motor hands, but fewer fingers.

Full hand specs and what they mean
Type
Three-finger force-controlled hand
Motion
7 DoF per hand. 7 motors: thumb 3, index 2, middle 2. Every joint is driven.
Load
500 g
Touch
None
Repeatability
±2 mm at the fingertip
Wrist camera
RGB wrist camera with mount
Weight
650 to 710 g (Unitree publishes both)
Size
175 × 88 × 77 mm
Drive
6 direct-drive joints and 1 geared joint
Control
Force-position hybrid
Interface
USB 2.0, 1000 Hz
Software
Unitree SDK; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Manipulation research and teleoperation on the G1, G1-D, H2 and R1.
Keep in mind
Three fingers look less human and cannot use every tool made for a five-finger hand.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin NX, 100 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin NX, 100 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$33,100 Get a quote
R1-A7-D Ultimate E

R1-A7-D Ultimate E

D Ultimate E

Programmable R1-A7-D with a pair of BrainCo Revo 2 hands with touch sensing.

End effector
Pair of BrainCo Revo 2 hands with touch sensing

The Revo 2 with touch sensing that reports pressure, friction, direction and when an object is close.

Full hand specs and what they mean
Type
Five-finger hand with touch sensing
Motion
6 DoF per hand. 6 motors drive 11 joints.
Force
50 N whole hand, 15 N pinch
Load
20 kg or more
Grip range
100 mm opening
Touch
Pressure, friction, direction and proximity at the fingertips
Repeatability
0.1° at the joint
Wrist camera
RGB wrist camera, with mount
Weight
383 g
Size
160 mm tall, fingertip to palm base
Control
Position, speed and current
Interface
RS-485 or CAN FD
Software
BrainCo Python and C SDK, ROS 2 and MoveIt; supported by Unitree's xr_teleoperate
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Handling fragile objects, and recording touch data to train AI.
Keep in mind
Each finger closes as one unit, so it is not built for rolling objects within the fingers. The fingers open during power-on calibration.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin NX, 100 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin NX, 100 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$35,000 Get a quote
R1-A7-D Ultimate C

R1-A7-D Ultimate C

D Ultimate C

Programmable R1-A7-D with a pair of Dex3-1 three-finger hands with touch sensing.

End effector
Pair of Dex3-1 three-finger hands with touch sensing

The Dex3-1 with 33 touch sensors, so the robot can feel contact and how hard it is pressing.

Full hand specs and what they mean
Type
Three-finger force-controlled hand with touch sensing
Motion
7 DoF per hand. 7 motors: thumb 3, index 2, middle 2. Every joint is driven.
Load
500 g
Touch
33 tactile sensors, sensing 10 g to 2.5 kg
Repeatability
±2 mm at the fingertip
Wrist camera
RGB wrist camera with mount
Weight
650 to 710 g (Unitree publishes both)
Size
175 × 88 × 77 mm
Drive
6 direct-drive joints and 1 geared joint
Control
Force-position hybrid
Interface
USB 2.0, 1000 Hz
Software
Unitree SDK; supported by Unitree's xr_teleoperate and Isaac simulation
Teleoperation
Supported by Unitree's xr_teleoperate
Best for
Learning from touch, and handling delicate objects, in manipulation research.
Keep in mind
Three fingers look less human and cannot use every tool made for a five-finger hand.
Compare every hand, with terms explained →
Control and programming
Programming
Yes, at joint level. SDK over DDS or ROS 2. No high-level motion interface is documented.
Remote
Remote controller included: damping, zero-torque and zero-position modes. Starts in debug mode.
App
Unitree Explore (iOS; Android by download from Unitree)
Warranty
12 months
More on control
Your code runs on
Orin NX, 100 TOPS
Teleoperation
Unitree's xr_teleoperate lists R1-A5 and R1-A7
Voice
4-microphone array and dual speakers, with voice assistant
App features
Status, network setup, calibration, remote pairing and first-person driving. Unitree publishes no feature list by edition, so ask us if a specific feature matters.
Updates
Over the air
  • Compute: Orin NX, 100 TOPS, built in.
  • On a lift column and wheeled base, about 32 kg, about 1.5 hours from the chassis battery.
  • 7-DoF arms carrying about 2 kg, 1-DoF waist, 2-DoF head.
  • MID360 LiDAR and stereo camera on the head.
$36,100 Get a quote
ConfigurationEnd effectorDoFComputeProgrammingWarrantyPrice
R1-A7 None 17 8-core CPU + 10 TOPS head Yes, joint level 12 months $8,200
R1-A7 Smart A Dex1-1 V2 gripper 19 40 TOPS Yes, joint level 12 months $10,700
R1-A7 Smart H Tendon-driven hand 21 40 TOPS Yes, joint level 12 months $12,600
R1-A7 Smart F LinkerBot O6 29 40 TOPS Yes, joint level 12 months $12,800
R1-A7 Smart G LinkerBot O6, tactile 29 40 TOPS Yes, joint level 12 months $13,200
R1-A7-D None 20 8-core CPU + 10 TOPS head Yes, joint level 12 months $14,000
R1-A7-D Smart A Dex1-1 V2 gripper 22 40 TOPS Yes, joint level 12 months $16,600
R1-A7-D Smart H Tendon-driven hand 24 40 TOPS Yes, joint level 12 months $18,500
R1-A7-D Smart F LinkerBot O6 32 40 TOPS Yes, joint level 12 months $18,700
R1-A7-D Smart G LinkerBot O6, tactile 32 40 TOPS Yes, joint level 12 months $19,100
R1-A7-D Ultimate A Dex1-1 V2 gripper 22 100 TOPS Yes, joint level 12 months $19,700
R1-A7 Smart D BrainCo Revo 2 29 40 TOPS Yes, joint level 12 months $20,200
R1-A7-D Ultimate H Tendon-driven hand 24 100 TOPS Yes, joint level 12 months $21,600
R1-A7-D Ultimate F LinkerBot O6 32 100 TOPS Yes, joint level 12 months $21,800
R1-A7-D Ultimate G LinkerBot O6, tactile 32 100 TOPS Yes, joint level 12 months $22,200
R1-A7 Smart B Dex3-1 3-finger 31 40 TOPS Yes, joint level 12 months $24,100
R1-A7 Smart E BrainCo Revo 2, tactile 29 40 TOPS Yes, joint level 12 months $26,000
R1-A7-D Smart D BrainCo Revo 2 32 40 TOPS Yes, joint level 12 months $26,000
R1-A7 Smart C Dex3-1 3-finger, tactile 31 40 TOPS Yes, joint level 12 months $27,100
R1-A7-D Ultimate D BrainCo Revo 2 32 100 TOPS Yes, joint level 12 months $29,100
R1-A7-D Smart B Dex3-1 3-finger 34 40 TOPS Yes, joint level 12 months $30,000
R1-A7-D Smart E BrainCo Revo 2, tactile 32 40 TOPS Yes, joint level 12 months $31,900
R1-A7-D Smart C Dex3-1 3-finger, tactile 34 40 TOPS Yes, joint level 12 months $33,000
R1-A7-D Ultimate B Dex3-1 3-finger 34 100 TOPS Yes, joint level 12 months $33,100
R1-A7-D Ultimate E BrainCo Revo 2, tactile 32 100 TOPS Yes, joint level 12 months $35,000
R1-A7-D Ultimate C Dex3-1 3-finger, tactile 34 100 TOPS Yes, joint level 12 months $36,100

Prices are US MSRP and exclude tax, duty and freight. Configurations, lead times and specifications are subject to change by the manufacturer.

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