Unitree R1-A7-D Smart F
- 32 DOF dual-arm humanoid robot: 7 DOF per arm ×2 + 1 waist joint + 2 head joints + 1 column joint + 2 chassis joints + 6 DOF per dexterous hand ×2
- Size: folded 683×520×440mm / extended approx. 1600×520×440mm; overall weight approx. 32kg
- Arms: 555mm upper arm + forearm length, approx. 2kg maximum arm load
- Joint range: waist yaw ±150°, head yaw ±115°, head pitch ±36°
- Perception: L2 LiDAR, binocular camera and wrist camera; built-in 40TOPS computing power docking station
- Computing: 8-core main body CPU, 8-core head CPU plus 10TOPS, 4-microphone array, dual speakers, WiFi 6 and Bluetooth 5.2
- End effector: Linker Hand O6 (non-tactile, with RGB camera) — dof per hand 6; joints 11 (6 active + 5 passive); weight 370g
- Removable chassis battery (about 1.5 hours) or external power supply; charger and quick-release smart battery included. No battery can be installed on the upper body.
- Trusted dealerDirect manufacturer partnership
- Pan-India deliveryInsured shipping, all states
- Post-sale supportTraining + service included
What makes it work
R1-A7-D Smart F Dual-Arm Humanoid Robot
Ultra-fast deployment, multi-scenario application
R1-A7-D Smart F
R1-A7-D Smart F is a dual-arm humanoid robot with 32 degrees of freedom, equipped with Linker Hand O6 dexterous hands (non-tactile). Perception: L2 LiDAR, binocular camera and wrist camera, with a built-in 40TOPS computing power docking station.
Key Features
High-performance dual-arm robot
High-performance motors, reducers, encoders and various robot sensors
More diverse interaction methods
Configure visual dual-camera computing modules and voice interaction system
Full-stack open secondary development
A mature robot development framework that supports full-process secondary development at the underlying level
Higher Degrees of Freedom
High-Performance Computing Module
- Head processor: 8-core high-performance CPU plus 10TOPS computing power
- Main body: 8-core high-performance CPU
- Built-in 40TOPS computing power docking station
- Voice collaboration: 4-microphone array + dual speakers
Open Program Interfaces and End Interfaces
Open interfaces for the underlying system, robotic arm, audio, lighting and visual control; the end can be quickly equipped with different actuators.
Application Scenarios
End Effector — Linker Hand O6 dexterous hands (non-tactile)
| End effector | Linker Hand O6 (non-tactile, with RGB camera) |
|---|---|
| DOF per hand | 6 |
| Joints | 11 (6 active + 5 passive) |
| Weight | 370g |
| Maximum load | 50kg |
| Transmission type | Linkage transmission |
| Repeat positioning accuracy | <±0.20mm |
| Maximum thumb fingertip force | 20N |
| Maximum four-finger fingertip force | 25N |
| Maximum five-finger gripping force | 70N |
Technical Specifications — R1-A7-D Smart F
| Dimensions (H×W×D) | Folded size 683×520×440mm; extended size approx. 1600×520×440mm |
|---|---|
| Dimension notes | 683mm is the distance from the top of the head to the bottom of the chassis wheels; 520mm is the chassis width; 440mm is the chassis thickness |
| Overall weight | Approx. 32kg |
| Total degrees of freedom | 32 (7 DOF per arm ×2 + 1 waist joint + 2 head joints + 1 column joint + 2 chassis joints + 6 DOF per dexterous hand ×2) |
|---|
| Maximum arm load | Approx. 2kg |
|---|---|
| Total length of upper arm and forearm | 555mm |
| Joint range of motion | Waist joint yaw ±150°; head joint yaw ±115°, pitch ±36° |
| Joint output bearing | Crossed roller bearing and double-groove ball bearing |
| Joint motor | Low-inertia high-speed inner rotor permanent magnet synchronous motor for improved response speed and heat dissipation |
| Wiring mode | Hollow routing and internal wiring |
| Joint encoder | Dual encoder and single encoder |
| Cooling system | Partial air cooling |
| Main body processor | 8-core high-performance CPU |
|---|---|
| Head processor | 8-core high-performance CPU plus 10TOPS computing power |
| Audio | 4-microphone array, dual speakers |
| Wireless | WiFi 6 and Bluetooth 5.2 |
| Perception sensors | L2 LiDAR, binocular camera and wrist camera |
| Docking station | Built-in 40TOPS computing power docking station, supporting secondary development and equipped with AI algorithm technical support |
| Power supply | Standard removable battery and external power supply for the R1-A-D chassis; no battery can be installed on the upper body |
|---|---|
| Battery life | Approx. 1.5 hours when powered by the removable chassis lithium battery |
| Included | Charger and quick-release smart battery |
| Rear interface power supply | Available |
| Updates | OTA upgrade |
|---|---|
| Secondary development | Supported |
| Standard accessory | Dual-hand remote controller |
| Warranty | 12-month overall warranty |
Frequently Asked Questions
What is the R1-A7-D Smart F?
The R1-A7-D Smart F is a dual-arm humanoid robot with Linker Hand O6 dexterous hands (non-tactile), L2 LiDAR, binocular camera and wrist camera and a built-in 40TOPS computing power docking station.
What are the dimensions and weight of the R1-A7-D Smart F?
Folded 683×520×440mm / extended approx. 1600×520×440mm, overall weight approx. 32kg.
How many degrees of freedom does the R1-A7-D Smart F have?
32 DOF in total: 7 DOF per arm ×2 + 1 waist joint + 2 head joints + 1 column joint + 2 chassis joints + 6 DOF per dexterous hand ×2.
How is the R1-A7-D Smart F powered?
Removable chassis battery (about 1.5 hours) or external power supply; charger and quick-release smart battery included. No battery can be installed on the upper body.
Does the R1-A7-D Smart F support secondary development, and what warranty does it have?
Yes. It supports secondary development and OTA upgrades, with a built-in docking station and AI algorithm technical support. A dual-hand remote controller is a standard accessory and the overall warranty is 12 months.
The full sheet
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