High-performance dual arm
High-performance motors, reducers, encoders, and robot sensors.
UNITREE · Humanoid robots
Unitree R1-D
Unitree dual-arm humanoid robot
A dual-arm robotic system for rapid deployment and diverse use cases. Motors, reducers, encoders, and robot sensors are provided together with dual cameras, voice interaction, and support for secondary development.
Three core capabilities
Dual-arm performance with motors, reducers, encoders, and various robot sensors; dual-camera visual computing and voice interaction; secondary development throughout the process, including at the low level.
Multifaceted interaction
A dual-camera visual computing module and voice interaction can be configured.
Open development
A mature development framework supports secondary development throughout the process, including at the low level.
Dual-arm structure with more degrees of freedom
Degrees of freedom vary by configuration; do not present the ranges as fixed values for a single variant.
Total
Configuration-dependent.
Arm
For both arms.
Waist
Waist joint.
Head
Head joints.
End
End-effector degrees of freedom.
Manufacturer ranges.
Wider working area
For the D model, lumbar joint deviation is summarized as ±35°. The table lists lumbar yaw as ±150° for A5/A7 and ±35° for A5-D/A7-D; neck yaw as ±115° and pitch as ±36°.
±35°
Waist
Lumbar joint range of motion in the D model summary.
Yaw ±115°; pitch ±36°
Neck
Yaw and pitch range.
Setup, computing, and perception options
Fixed or mobile base; 5 or 7 DOF per arm. The head has an 8-core high-performance CPU and 10 TOPS; the torso has an 8-core CPU. The binocular module provides RGB and depth interfaces. Interfaces for subsystems, arms, audio, lighting, and visual control are open; different end effectors can be attached.
Fixed or mobile base, 5/7-degree-of-freedom arm.
Fixed / mobile; 5 / 7 DOF
Installation
Fixed or mobile base, 5/7-degree-of-freedom arm.
Head and torso processors.
Head 10 TOPS; 8-core CPU
Computing
Head and torso processors.
Field of view, range, and image outputs.
146°×124°; 60 mm; RGB 1280×720@30Hz; 544×448@10Hz
Binocular camera
Field of view, range, and image outputs.
Open system interfaces and attachable end effectors.
Open / interchangeable
Interface/end effector
Open system interfaces and attachable end effectors.
Actual tab switching has not been verified.
Application scenarios
Unitree R1-D: The manufacturer also lists the names R1-A5, R1-A7, R1-A5-D, and R1-A7-D. The complete descriptions of the visual scenarios are not provided in the extractable page text. Audio/visual collaboration, arm payload, and end-effector gripper accuracy are then summarized.
R1-A5
5 DOF arm variant.
R1-A7
7 DOF arm variant.
R1-A5-D
D variant, 5 DOF arm.
R1-A7-D
D variant, 7 DOF arm.
Audio collaboration
Four array microphones and two speakers.
Visual collaboration
Binocular computing module.
Maximum arm payload
Varies according to the arm's extended posture.
End-effector gripper accuracy
Accuracy specified by the manufacturer.
Arm payload varies with posture; the exact variant-to-image correspondence could not be verified in the extractable text.
Mechanical dimensions
The comparative table provides the dimensions, weight, DOF, arm, chassis, joint, and movement values for the four configurations.
| DOF, with gripper | A5 15; A7 19; A5-D 18; A7-D 22Depending on configuration. |
|---|---|
| Dimensions | A5 700×357×190 mm; A7 835×357×190 mm; D retracted 683×520×440 mm, raised 1600×520×440 mmD rows applied to both variants. |
| Weight | A5 approximately 11 kg (with external power); A7 approximately 13 kg; A5-D approximately 30 kg; A7-D approximately 32 kgManufacturer's table. |
| Arm DOF | A5/A5-D 5; A7/A7-D 7Per arm. |
| Chassis DOF | A5/A7 excluded; A5-D/A7-D 3D base configurations. |
| Maximum shoulder torque | 60 N·mSame across all four columns. |
| Arm payload | 2–4 kgVaries significantly depending on arm extension posture. |
| End effector | Optional two-finger gripper, three- or five-finger dexterous handConfiguration option. |
| Forearm + upper arm length | A5/A5-D 420 mm; A7/A7-D 555 mmManufacturer table value. |
| Waist and head movement | A5/A7 waist yaw ±150°; A5-D/A7-D ±35°; head yaw ±115°, pitch ±36°Configuration-dependent. |
| Joint/bearing and motor | Crossed roller + deep-groove ball bearings; low-inertia, high-speed inner-rotor PMSMManufacturer description. |
| Wiring/encoder/cooling | Hollow + internal wiring; arm dual encoders; local air coolingManufacturer's table. |
| Power | External power or Li-ion batteryOption. |
| Computing | Body: 8-core high-performance CPU; head: 8-core CPU + 10 TOPSOrin 40–100 TOPS is an accessory example. |
| Audio | 4-microphone array; dual speakers 3 W×2Manufacturer's table. |
| Connectivity | Wi‑Fi 6 and Bluetooth 5.2Listed as yes in the table. |
| Camera | A5/A7 binocular + optional wrist camera; A5-D/A7-D chassis LiDAR + binocular + optional wrist cameraDepending on variant. |
| Binocular camera | Horizontal 146°, vertical 124°; eye spacing 60 mm; RGB 1280×720@30Hz; depth 544×448@10HzValues from the manufacturer’s page. |
| Battery runtime | Approximately 1,5 hoursApproximate battery-powered operating time. |
| OTA / secondary development | OTA: yes; secondary development: yesManufacturer statement. |
| Warranty | 12 monthsManufacturer information; not a reseller promise. |
This is a family table; D values should be distinguished by A5-D and A7-D.
Electrical specifications
Hollow/internal wiring, arm dual encoders, local air cooling, external power or Li-ion battery, microphone/speaker, Wi‑Fi 6, Bluetooth 5.2, and camera options.
| DOF, with gripper | A5 15; A7 19; A5-D 18; A7-D 22Depending on configuration. |
|---|---|
| Dimensions | A5 700×357×190 mm; A7 835×357×190 mm; D retracted 683×520×440 mm, raised 1600×520×440 mmD rows applied to both variants. |
| Weight | A5 approximately 11 kg (with external power); A7 approximately 13 kg; A5-D approximately 30 kg; A7-D approximately 32 kgManufacturer's table. |
| Arm DOF | A5/A5-D 5; A7/A7-D 7Per arm. |
| Chassis DOF | A5/A7 excluded; A5-D/A7-D 3D base configurations. |
| Maximum shoulder torque | 60 N·mSame across all four columns. |
| Arm payload | 2–4 kgVaries significantly depending on arm extension posture. |
| End effector | Optional two-finger gripper, three- or five-finger dexterous handConfiguration option. |
| Forearm + upper arm length | A5/A5-D 420 mm; A7/A7-D 555 mmManufacturer table value. |
| Waist and head movement | A5/A7 waist yaw ±150°; A5-D/A7-D ±35°; head yaw ±115°, pitch ±36°Configuration-dependent. |
| Joint/bearing and motor | Crossed roller + deep-groove ball bearings; low-inertia, high-speed inner-rotor PMSMManufacturer description. |
| Wiring/encoder/cooling | Hollow + internal wiring; arm dual encoders; local air coolingManufacturer's table. |
| Power | External power or Li-ion batteryOption. |
| Computing | Body: 8-core high-performance CPU; head: 8-core CPU + 10 TOPSOrin 40–100 TOPS is an accessory example. |
| Audio | 4-microphone array; dual speakers 3 W×2Manufacturer's table. |
| Connectivity | Wi‑Fi 6 and Bluetooth 5.2Listed as yes in the table. |
| Camera | A5/A7 binocular + optional wrist camera; A5-D/A7-D chassis LiDAR + binocular + optional wrist cameraDepending on variant. |
| Binocular camera | Horizontal 146°, vertical 124°; eye spacing 60 mm; RGB 1280×720@30Hz; depth 544×448@10HzValues from the manufacturer’s page. |
| Battery runtime | Approximately 1,5 hoursApproximate battery-powered operating time. |
| OTA / secondary development | OTA: yes; secondary development: yesManufacturer statement. |
| Warranty | 12 monthsManufacturer information; not a reseller promise. |
Camera: binocular + optional wrist camera on standard variants; D also has chassis LiDAR.
Accessories
High-compute modules from multiple brands/models; Orin example 40–100 TOPS. Power input and charger are listed.
| DOF, with gripper | A5 15; A7 19; A5-D 18; A7-D 22Depending on configuration. |
|---|---|
| Dimensions | A5 700×357×190 mm; A7 835×357×190 mm; D retracted 683×520×440 mm, raised 1600×520×440 mmD rows applied to both variants. |
| Weight | A5 approximately 11 kg (with external power); A7 approximately 13 kg; A5-D approximately 30 kg; A7-D approximately 32 kgManufacturer's table. |
| Arm DOF | A5/A5-D 5; A7/A7-D 7Per arm. |
| Chassis DOF | A5/A7 excluded; A5-D/A7-D 3D base configurations. |
| Maximum shoulder torque | 60 N·mSame across all four columns. |
| Arm payload | 2–4 kgVaries significantly depending on arm extension posture. |
| End effector | Optional two-finger gripper, three- or five-finger dexterous handConfiguration option. |
| Forearm + upper arm length | A5/A5-D 420 mm; A7/A7-D 555 mmManufacturer table value. |
| Waist and head movement | A5/A7 waist yaw ±150°; A5-D/A7-D ±35°; head yaw ±115°, pitch ±36°Configuration-dependent. |
| Joint/bearing and motor | Crossed roller + deep-groove ball bearings; low-inertia, high-speed inner-rotor PMSMManufacturer description. |
| Wiring/encoder/cooling | Hollow + internal wiring; arm dual encoders; local air coolingManufacturer's table. |
| Power | External power or Li-ion batteryOption. |
| Computing | Body: 8-core high-performance CPU; head: 8-core CPU + 10 TOPSOrin 40–100 TOPS is an accessory example. |
| Audio | 4-microphone array; dual speakers 3 W×2Manufacturer's table. |
| Connectivity | Wi‑Fi 6 and Bluetooth 5.2Listed as yes in the table. |
| Camera | A5/A7 binocular + optional wrist camera; A5-D/A7-D chassis LiDAR + binocular + optional wrist cameraDepending on variant. |
| Binocular camera | Horizontal 146°, vertical 124°; eye spacing 60 mm; RGB 1280×720@30Hz; depth 544×448@10HzValues from the manufacturer’s page. |
| Battery runtime | Approximately 1,5 hoursApproximate battery-powered operating time. |
| OTA / secondary development | OTA: yes; secondary development: yesManufacturer statement. |
| Warranty | 12 monthsManufacturer information; not a reseller promise. |
Orin is an optional feature.
Other features
Approximately 1,5 hours of battery-powered operation, smart OTA, and support for secondary development are stated. Although the source includes 12-month warranty information, this is not a promise by Robotik Çözümler.
| DOF, with gripper | A5 15; A7 19; A5-D 18; A7-D 22Depending on configuration. |
|---|---|
| Dimensions | A5 700×357×190 mm; A7 835×357×190 mm; D retracted 683×520×440 mm, raised 1600×520×440 mmD rows applied to both variants. |
| Weight | A5 approximately 11 kg (with external power); A7 approximately 13 kg; A5-D approximately 30 kg; A7-D approximately 32 kgManufacturer's table. |
| Arm DOF | A5/A5-D 5; A7/A7-D 7Per arm. |
| Chassis DOF | A5/A7 excluded; A5-D/A7-D 3D base configurations. |
| Maximum shoulder torque | 60 N·mSame across all four columns. |
| Arm payload | 2–4 kgVaries significantly depending on arm extension posture. |
| End effector | Optional two-finger gripper, three- or five-finger dexterous handConfiguration option. |
| Forearm + upper arm length | A5/A5-D 420 mm; A7/A7-D 555 mmManufacturer table value. |
| Waist and head movement | A5/A7 waist yaw ±150°; A5-D/A7-D ±35°; head yaw ±115°, pitch ±36°Configuration-dependent. |
| Joint/bearing and motor | Crossed roller + deep-groove ball bearings; low-inertia, high-speed inner-rotor PMSMManufacturer description. |
| Wiring/encoder/cooling | Hollow + internal wiring; arm dual encoders; local air coolingManufacturer's table. |
| Power | External power or Li-ion batteryOption. |
| Computing | Body: 8-core high-performance CPU; head: 8-core CPU + 10 TOPSOrin 40–100 TOPS is an accessory example. |
| Audio | 4-microphone array; dual speakers 3 W×2Manufacturer's table. |
| Connectivity | Wi‑Fi 6 and Bluetooth 5.2Listed as yes in the table. |
| Camera | A5/A7 binocular + optional wrist camera; A5-D/A7-D chassis LiDAR + binocular + optional wrist cameraDepending on variant. |
| Binocular camera | Horizontal 146°, vertical 124°; eye spacing 60 mm; RGB 1280×720@30Hz; depth 544×448@10HzValues from the manufacturer’s page. |
| Battery runtime | Approximately 1,5 hoursApproximate battery-powered operating time. |
| OTA / secondary development | OTA: yes; secondary development: yesManufacturer statement. |
| Warranty | 12 monthsManufacturer information; not a reseller promise. |
The warranty line is manufacturer information only.
Safe-use note
The manufacturer requires maintaining adequate safety distance between people and the complex, powerful dual-arm robot and operating it with extreme care; it warns against hazardous modifications/use and advises compliance with local regulations.
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