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

R1-A7

R1-A7

R1-A7

Weight (With Battery): Approx. 13 kg (external power supply)

  • Height, Width and Thickness: Dimensions: 835x357x190mm, where 835 mm is the distance from the top of the head to the tip of the arm when the arm is…
  • Weight (With Battery): Approx. 13 kg (external power supply)
  • Total Degrees of Freedom (Joint Freedom）: 17 (7*2 for each arm + 1 for the waist + 2 for the head = 17)
  • Common Sepc: Joint Output Bearings: Crossed-roller + Double-row ball
  • Joint Motor: Low-inertia, high-speed, inner-rotor permanent magnet synchronous motor (better response speed and heat dissipation)
$8,200 Get a quote
R1-A7 Smart A

R1-A7 Smart A

R1-A7 Smart A

Dexterous hand: Dex1-1 V2

  • Dexterous hand: Dex1-1 V2
  • Compute: Orin Nano 40 Tops build in
$10,700 Get a quote
R1-A7 Smart H

R1-A7 Smart H

R1-A7 Smart H

Dexterous hand: Tendon-driven dexterous hand

  • Dexterous hand: Tendon-driven dexterous hand
  • Compute: Orin Nano 40 Tops build in
$12,600 Get a quote
R1-A7 Smart F

R1-A7 Smart F

R1-A7 Smart F

Dexterous hand: LinkerBot Hand O6 (Non-Tactile Version) (with RGB Camera)

  • Dexterous hand: LinkerBot Hand O6 (Non-Tactile Version) (with RGB Camera)
  • Compute: Orin Nano 40 Tops build in
$12,800 Get a quote
R1-A7 Smart G

R1-A7 Smart G

R1-A7 Smart G

Dexterous hand: LinkerBot Hand O6 (Tactile version) (with RGB Camera)

  • Dexterous hand: LinkerBot Hand O6 (Tactile version) (with RGB Camera)
  • Compute: Orin Nano 40 Tops build in
$13,200 Get a quote
R1-A7-D

R1-A7-D

D

Elevated dimensions: 1323x520x440 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

  • Height, Width and Thickness: Collapsed dimensions: 683x520x44 mm, where 683 is the distance from the top of the unit to the bottom of the chassis w…
  • Elevated dimensions: 1323x520x440 mm, where 1323 is the distance from the top of the head to the bottom of the chassis wheels, 520 is the chassis w…
  • 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 Sepc: Joint Output Bearings: Crossed-roller + Double-row ball
$14,000 Get a quote
R1-A7-D Smart A

R1-A7-D Smart A

D Smart A

Dexterous hand: Dex1-1 V2

  • Dexterous hand: Dex1-1 V2
  • Compute: Orin Nano 40 Tops build in
$16,600 Get a quote
R1-A7-D Smart H

R1-A7-D Smart H

D Smart H

Dexterous hand: Tendon-driven dexterous hand

  • Dexterous hand: Tendon-driven dexterous hand
  • Compute: Orin Nano 40 Tops build in
$18,500 Get a quote
R1-A7-D Smart F

R1-A7-D Smart F

D Smart F

Dexterous hand: LinkerBot Hand O6 (Non-Tactile Version) (with RGB Camera)

  • Dexterous hand: LinkerBot Hand O6 (Non-Tactile Version) (with RGB Camera)
  • Compute: Orin Nano 40 Tops build in
$18,700 Get a quote
R1-A7-D Smart G

R1-A7-D Smart G

D Smart G

Dexterous hand: LinkerBot Hand O6 (Tactile version) (with RGB Camera)

  • Dexterous hand: LinkerBot Hand O6 (Tactile version) (with RGB Camera)
  • Compute: Orin Nano 40 Tops build in
$19,100 Get a quote
R1-A7-D Ultimate A

R1-A7-D Ultimate A

D Ultimate A

Dexterous hand: Dex1-1 V2

  • Dexterous hand: Dex1-1 V2
  • Compute: Orin NX 100 Tops build in
$19,700 Get a quote
R1-A7 Smart D

R1-A7 Smart D

R1-A7 Smart D

Dexterous hand: BrainCo Revo 2 Basic Dexterous Hand (with RGB Camera)

  • Dexterous hand: BrainCo Revo 2 Basic Dexterous Hand (with RGB Camera)
  • Compute: Orin Nano 40 Tops build in
$20,200 Get a quote
R1-A7-D Ultimate H

R1-A7-D Ultimate H

D Ultimate H

Dexterous hand: Tendon-driven dexterous hand

  • Dexterous hand: Tendon-driven dexterous hand
  • Compute: Orin NX 100 Tops build in
$21,600 Get a quote
R1-A7-D Ultimate F

R1-A7-D Ultimate F

D Ultimate F

Dexterous hand: LinkerBot Hand O6 (Non-Tactile Version) (with RGB Camera)

  • Dexterous hand: LinkerBot Hand O6 (Non-Tactile Version) (with RGB Camera)
  • Compute: Orin NX 100 Tops build in
$21,800 Get a quote
R1-A7-D Ultimate G

R1-A7-D Ultimate G

D Ultimate G

Dexterous hand: LinkerBot Hand O6 (Tactile version) (with RGB Camera)

  • Dexterous hand: LinkerBot Hand O6 (Tactile version) (with RGB Camera)
  • Compute: Orin NX 100 Tops build in
$22,200 Get a quote
R1-A7 Smart B

R1-A7 Smart B

R1-A7 Smart B

Dexterous hand: Dex3-1 Hand (with RGB Camera)

  • Dexterous hand: Dex3-1 Hand (with RGB Camera)
  • Compute: Orin Nano 40 Tops build in
$24,100 Get a quote
R1-A7 Smart E

R1-A7 Smart E

R1-A7 Smart E

Dexterous hand: BrainCo Revo 2 Tactile version Hand (with RGB Camera)

  • Dexterous hand: BrainCo Revo 2 Tactile version Hand (with RGB Camera)
  • Compute: Orin Nano 40 Tops build in
$26,000 Get a quote
R1-A7-D Smart D

R1-A7-D Smart D

D Smart D

Dexterous hand: BrainCo Revo 2 Basic Dexterous Hand (with RGB Camera)

  • Dexterous hand: BrainCo Revo 2 Basic Dexterous Hand (with RGB Camera)
  • Compute: Orin Nano 40 Tops build in
$26,000 Get a quote
R1-A7 Smart C

R1-A7 Smart C

R1-A7 Smart C

Dexterous hand: Dex3-1 Hand (Tactile Version) (with RGB Camera)

  • Dexterous hand: Dex3-1 Hand (Tactile Version) (with RGB Camera)
  • Compute: Orin Nano 40 Tops build in
$27,100 Get a quote
R1-A7-D Ultimate D

R1-A7-D Ultimate D

D Ultimate D

Dexterous hand: BrainCo Revo 2 Basic Dexterous Hand (with RGB Camera)

  • Dexterous hand: BrainCo Revo 2 Basic Dexterous Hand (with RGB Camera)
  • Compute: Orin NX 100 Tops build in
$29,100 Get a quote
R1-A7-D Smart B

R1-A7-D Smart B

D Smart B

Dexterous hand: Dex3-1 Hand (with RGB Camera)

  • Dexterous hand: Dex3-1 Hand (with RGB Camera)
  • Compute: Orin Nano 40 Tops build in
$30,000 Get a quote
R1-A7-D Smart E

R1-A7-D Smart E

D Smart E

Dexterous hand: BrainCo Revo 2 Tactile version Hand (with RGB Camera)

  • Dexterous hand: BrainCo Revo 2 Tactile version Hand (with RGB Camera)
  • Compute: Orin Nano 40 Tops build in
$31,900 Get a quote
R1-A7-D Smart C

R1-A7-D Smart C

D Smart C

Dexterous hand: Dex3-1 Hand (Tactile Version) (with RGB Camera)

  • Dexterous hand: Dex3-1 Hand (Tactile Version) (with RGB Camera)
  • Compute: Orin Nano 40 Tops build in
$33,000 Get a quote
R1-A7-D Ultimate B

R1-A7-D Ultimate B

D Ultimate B

Dexterous hand: Dex3-1 Hand (with RGB Camera)

  • Dexterous hand: Dex3-1 Hand (with RGB Camera)
  • Compute: Orin NX 100 Tops build in
$33,100 Get a quote
R1-A7-D Ultimate E

R1-A7-D Ultimate E

D Ultimate E

Dexterous hand: BrainCo Revo 2 Tactile version Hand (with RGB Camera)

  • Dexterous hand: BrainCo Revo 2 Tactile version Hand (with RGB Camera)
  • Compute: Orin NX 100 Tops build in
$35,000 Get a quote
R1-A7-D Ultimate C

R1-A7-D Ultimate C

D Ultimate C

Dexterous hand: Dex3-1 Hand (Tactile Version) (with RGB Camera)

  • Dexterous hand: Dex3-1 Hand (Tactile Version) (with RGB Camera)
  • Compute: Orin NX 100 Tops build in
$36,100 Get a quote
ConfigurationDOFComputeWarrantyEnd effectorPrice
R1-A7 17 10 TOPS 12 months — $8,200
R1-A7 Smart A 17 40 TOPS 12 months Dex1-1 gripper $10,700
R1-A7 Smart H 17 40 TOPS 12 months Tendon-driven hand $12,600
R1-A7 Smart F 17 40 TOPS 12 months LinkerBot O6 $12,800
R1-A7 Smart G 17 40 TOPS 12 months LinkerBot O6 (tactile) $13,200
R1-A7-D 20 10 TOPS 12 months — $14,000
R1-A7-D Smart A 20 40 TOPS 12 months Dex1-1 gripper $16,600
R1-A7-D Smart H 20 40 TOPS 12 months Tendon-driven hand $18,500
R1-A7-D Smart F 20 40 TOPS 12 months LinkerBot O6 $18,700
R1-A7-D Smart G 20 40 TOPS 12 months LinkerBot O6 (tactile) $19,100
R1-A7-D Ultimate A 20 100 TOPS 12 months Dex1-1 gripper $19,700
R1-A7 Smart D 17 40 TOPS 12 months BrainCo Revo 2 Basic $20,200
R1-A7-D Ultimate H 20 100 TOPS 12 months Tendon-driven hand $21,600
R1-A7-D Ultimate F 20 100 TOPS 12 months LinkerBot O6 $21,800
R1-A7-D Ultimate G 20 100 TOPS 12 months LinkerBot O6 (tactile) $22,200
R1-A7 Smart B 17 40 TOPS 12 months Dex3-1 3-finger $24,100
R1-A7 Smart E 17 40 TOPS 12 months BrainCo Revo 2 (tactile) $26,000
R1-A7-D Smart D 20 40 TOPS 12 months BrainCo Revo 2 Basic $26,000
R1-A7 Smart C 17 40 TOPS 12 months Dex3-1 3-finger (tactile) $27,100
R1-A7-D Ultimate D 20 100 TOPS 12 months BrainCo Revo 2 Basic $29,100
R1-A7-D Smart B 20 40 TOPS 12 months Dex3-1 3-finger $30,000
R1-A7-D Smart E 20 40 TOPS 12 months BrainCo Revo 2 (tactile) $31,900
R1-A7-D Smart C 20 40 TOPS 12 months Dex3-1 3-finger (tactile) $33,000
R1-A7-D Ultimate B 20 100 TOPS 12 months Dex3-1 3-finger $33,100
R1-A7-D Ultimate E 20 100 TOPS 12 months BrainCo Revo 2 (tactile) $35,000
R1-A7-D Ultimate C 20 100 TOPS 12 months Dex3-1 3-finger (tactile) $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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